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GENETIC ALGORITHM FOR ADJUSTING THE LQR PARAMETERS IN ORDER TO MEET THE GIVEN PERFORMANCE SPECIFICATIONS OF DYNAMIC SYSTEMS

机译:调整LQR参数以符合动态系统给定性能规范的遗传算法

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This paper presents an algorithm to find the linear-quadratic regulator weights so that the given response specifications of dynamic systems can be fulfilled. Quadratic optimal control approach is often used when expenditure of energy is a concern of the control design. It balances between the acceptable response and the amount of control energy required. Nevertheless, it lacks of a strategy that links its weights to the desirable response specifications. This work deals with that problem using a genetic algorithm to determine such weights. In order to confirm the validity of the proposed algorithm, simulations are carried out for the ball and beam system. The results showed the efficiency of the method.
机译:本文提出了一种寻找线性二次调节器权重的算法,从而可以满足给定的动态系统响应规范。当能量消耗是控制设计的关注点时,通常使用二次最优控制方法。它在可接受的响应和所需的控制能量之间取得平衡。然而,它缺乏将其权重与所需响应规范联系起来的策略。这项工作使用遗传算法来确定该权重,从而解决了该问题。为了确认所提出算法的有效性,对球和梁系统进行了仿真。结果表明了该方法的有效性。

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