Improve Linear Quadratic Regulator by Particle Swarm Optimization Algorithms for Two  Wheeled Self Bala ncing Mobile robot

Noor.M.Mjeed,; Ekhlas.H.Karam,

doi:10.33762/eeej.2017.135280

	Improve Linear Quadratic Regulator by Particle Swarm Optimization Algorithms for Two Wheeled Self Bala ncing Mobile robot
Iraqi Journal for Electrical And Electronic Engineering
Article 5, Volume 13, Issue 2, 2017, Pages 173-179 PDF (0 K)
DOI: 10.33762/eeej.2017.135280
Authors
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Abstract
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.
Keywords
ASO; LQR; PSO; two wheeled self; balancing mobile robot

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