Improve linear quadratic regulator by particle swarm optimization algorithms for two wheeled self bala ncing mobile robot
Joint Authors
Source
The Iraqi Journal of Electrical and Electronic Engineering
Issue
Vol. 13, Issue 2 (31 Dec. 2017), pp.173-179, 7 p.
Publisher
University of Basrah College of Engineering
Publication Date
2017-12-31
Country of Publication
Iraq
No. of Pages
7
Main Subjects
Economics & Business Administration
Abstract EN
The aim of this paper is to suggest a methodical smooth control method for improving the stability of two wheeled self-balancing robot under effect disturbance.
To promote the stability of the robot, the design of linear quadratic regulator using particle swarm optimization (PSO) method and adaptive particle swarm optimization (APSO).
The computation of optimal multivariable feedback control is traditionally by LQR approach by Riccati equation.
Regrettably, the method as yet has a trial and error approach when selecting parameters, particularly tuning the Q and R elements of the weight matrices.
Therefore, an intelligent numerical method to solve this problem is suggested by depending PSO and APSO algorithm.
To appraise the effectiveness of the suggested method, The Simulation result displays that the numerical method makes the system stable and minimizes processing time.
American Psychological Association (APA)
Karam, Ikhlas H.& Majid, Nur M.. 2017. Improve linear quadratic regulator by particle swarm optimization algorithms for two wheeled self bala ncing mobile robot. The Iraqi Journal of Electrical and Electronic Engineering،Vol. 13, no. 2, pp.173-179.
https://search.emarefa.net/detail/BIM-796096
Modern Language Association (MLA)
Karam, Ikhlas H.& Majid, Nur M.. Improve linear quadratic regulator by particle swarm optimization algorithms for two wheeled self bala ncing mobile robot. The Iraqi Journal of Electrical and Electronic Engineering Vol. 13, no. 2 (2017), pp.173-179.
https://search.emarefa.net/detail/BIM-796096
American Medical Association (AMA)
Karam, Ikhlas H.& Majid, Nur M.. Improve linear quadratic regulator by particle swarm optimization algorithms for two wheeled self bala ncing mobile robot. The Iraqi Journal of Electrical and Electronic Engineering. 2017. Vol. 13, no. 2, pp.173-179.
https://search.emarefa.net/detail/BIM-796096
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references : p. 178-179
Record ID
BIM-796096