scholarly journals Improved Artificial Bee Colony Algorithm and Its Application in LQR Controller Optimization

2014 ◽  
Vol 2014 ◽  
pp. 1-8 ◽  
Author(s):  
Haiquan Wang ◽  
Lei Liao ◽  
Dongyun Wang ◽  
Shengjun Wen ◽  
Mingcong Deng
Keyword(s):  
Artificial Bee Colony ◽  
Linear Quadratic Regulator ◽  
Food Sources ◽  
Linear Quadratic ◽  
Pendulum System ◽  
Abc Algorithm ◽  
Bee Colony ◽  
Inverted Pendulum System ◽  
Fitness Value ◽  
Lqr Controller

In order to get the optimal performance of controller and improve the design efficiency, artificial bee colony (ABC) algorithm as a metaheuristic approach which is inspired by the collective foraging behavior of honey bee swarms is considered for optimal linear quadratic regulator (LQR) design in this paper. Furthermore, for accelerating the convergence speed and enhancing the diversities of population of the traditional ABC algorithm, improved solution searching approach is proposed creatively. The proposed approach refers to the procedure of differential mutation in differential evolutionary (DE) algorithm and produces uniform distributed food sources in employed bee phase to avoid local optimal solution. Meanwhile, during the onlooker bees searching stage where the solution search area has been narrowed by employed bees, new solutions are generated around the solution with higher fitness value to keep the fitness values increasing monotonously. The improved ABC algorithm is applied to the optimization of LQR controller for the circular-rail double inverted pendulum system, and the simulation results show the effect on the proposed optimization problem.

scholarly journals USING GENETIC ALGORITHM IN OPTIMIZING THE MATRIX OF LQR CONTROLLER FOR NONLINEAR INVERTED PENDULUM SYSTEM

2019 ◽  
Vol 1 (28) ◽  
pp. 50-55
Author(s):  
Tan Thanh Nguyen
Keyword(s):  
Genetic Algorithm ◽  
Inverted Pendulum ◽  
Linear Quadratic Regulator ◽  
Linear Quadratic ◽  
Pendulum System ◽  
Inverted Pendulum System ◽  
Pendulum Model ◽  
The Matrix ◽  
Lqr Controller ◽  
Genetic Algorithm Method

In this article, the author used the matlab software to simulate and then compared the results between the classical LQR (Linear Quadratic Regulator) controller and another method to adjust the matrix parameters toward optimization of the LQR controller. It is the GA (Genetic Algorithm) method to optimize the matrix of the LQR controller, and the results have  been verified on the nonlinear pendulum model. The Genetic Algorithm is a modern control algorithm, which is widely applied in research and practice. The main objective of this article is to use the GA algorithm in order to optimize the matrix parameters of LQR controller, whichcontrolled the position and angle of the nonlinear inverted pendulum at the stable balance point. The matlab-based simulating results showed that  the system has operated properly to the requirements and the output response has reached an equilibrium position of about 2.5 seconds.

Design and Performance Analysis of LQR Controller for Stabilizing Double Inverted Pendulum System

2017 ◽  
Vol 2 (9) ◽  
pp. 1-5
Author(s):  
Ghassan A. Sultan ◽  
Ziyad K. Farej
Keyword(s):  
Inverted Pendulum ◽  
Linear Quadratic Regulator ◽  
Linear Quadratic ◽  
Pendulum System ◽  
Inverted Pendulum Model ◽  
Inverted Pendulum System ◽  
Pendulum Model ◽  
Lqr Controller ◽  
And Performance ◽  
Performance Results

Double inverted pendulum (DIP) is a nonlinear, multivariable and unstable system. The inverted pendulum which continually moves toward an uncontrolled state represents a challenging control problem. The problem is to balance the pendulum vertically upward on a mobile platform that can move in only two directions (left or right) when it is offset from zero stat. The aim is to determine the control strategy that deliver better performance with respect to pendulum's angles and cart's position. A Linear-Quadratic-Regulator (LQR) technique for controlling the linearized system of double inverted pendulum model is presented. Simulation studies conducted in MATLAB environment show that the LQR controller are capable of controlling the multi output double inverted pendulum system. Also better performance results are obtained for controlling heavy driven part DIP system.

Optimal Design of LQR Controller Based on Improved Artificial Bee Colony Optimization Algorithm

2014 ◽  
Vol 971-973 ◽  
pp. 1272-1275 ◽  
Author(s):  
Huai De Yang
Keyword(s):  
Artificial Bee Colony ◽  
Inverted Pendulum ◽  
Balance Control ◽  
Pendulum System ◽  
Artificial Bee Colony Optimization ◽  
Bee Colony ◽  
Inverted Pendulum System ◽  
Lqr Controller ◽  
Bee Colony Optimization ◽  
The Mathematical Model

The inverted pendulum system is characterized as a typical nonlinear, fast multi-variable, essentially unstable system. It is difficult to control because of its instability .In order to improve balance control, the mathematical model of the single inverted pendulum is established, a LQR controller is designed which is based on improved artificial bee colony. Experiments show that the improved algorithm has better performance than standard artificial bee colony algorithm on convergence and rate balance control to meet the requirements of the single inverted pendulum.

scholarly journals Design of hybrid sliding mode controller based on fireworks algorithm for nonlinear inverted pendulum systems

2017 ◽  
Vol 9 (1) ◽  
pp. 168781401668427 ◽  
Author(s):  
Te-Jen Su ◽  
Shih-Ming Wang ◽  
Tsung-Ying Li ◽  
Sung-Tsun Shih ◽  
Van-Manh Hoang
Keyword(s):  
Inverted Pendulum ◽  
Sliding Mode ◽  
Linear Quadratic Regulator ◽  
Sliding Mode Controller ◽  
Proportional Integral Derivative ◽  
Linear Quadratic ◽  
Pendulum System ◽  
Fireworks Algorithm ◽  
Simulation Process ◽  
Inverted Pendulum System

The objective of this article is to optimize parameters of a hybrid sliding mode controller based on fireworks algorithm for a nonlinear inverted pendulum system. The proposed controller is a combination of two modified types of the classical sliding mode controller, namely, baseline sliding mode controller and fast output sampling discrete sliding mode controller. The simulation process is carried out with MATLAB/Simulink. The results are compared with a published hybrid method using proportional–integral–derivative and linear quadratic regulator controllers. The simulation results show a better performance of the proposed controller.

scholarly journals MODIFIKASI BARU ALGORITMA KOLONI LEBAH BUATAN UNTUK MASALAH OPTIMASI GLOBAL

2018 ◽  
Vol 10 (1) ◽  
pp. 17
Author(s):  
Nursyiva Irsalinda ◽  
Sugiyarto Surono
Keyword(s):  
Food Source ◽  
Artificial Bee Colony ◽  
Selection Process ◽  
Optimization Technique ◽  
Food Sources ◽  
Abc Algorithm ◽  
Average Value ◽  
Bee Colony ◽  
Objective Function Values ◽  
Better Than

Artificial Bee Colony (ABC) algorithm is one of metaheuristic optimization technique based on population. This algorithm mimicking honey bee swarm to find the best food source. ABC algorithm consist of four phases: initialization phase, employed bee phase, onlooker bee phase and scout bee phase. This study modify the onlooker bee phase in selection process to find the neighborhood food source. Not all food sources obtained are randomly sought the neighborhood as in ABC algorithm. Food sources are selected by comparing their objective function values. The food sources that have value lower than average value in that iteration will be chosen by onlooker bee to get the better food source. In this study the modification of this algorithm is called New Modification of Artificial Bee Colony Algorithm (MB-ABC). MB-ABC was applied to 4 Benchmark functions. The results show that MB-ABC algorithm better than ABC algorithm

Hybrid Optimization Technique for Enhancing the Stability of Inverted Pendulum System

2021 ◽  
Vol 12 (1) ◽  
pp. 77-97
Author(s):  
M. E. Mousa ◽  
M. A. Ebrahim ◽  
Magdy M. Zaky ◽  
E. M. Saied ◽  
S. A. Kotb
Keyword(s):  
Inverted Pendulum ◽  
Optimization Technique ◽  
Linear Quadratic Regulator ◽  
Variable Structure ◽  
Grey Wolf Optimizer ◽  
Linear Quadratic ◽  
Pendulum System ◽  
Inverted Pendulum System ◽  
New Variant ◽  
The Stability

The inverted pendulum system (IPS) is considered the milestone of many robotic-based industries. In this paper, a new variant of variable structure adaptive fuzzy (VSAF) is used with new reduced linear quadratic regulator (RLQR) and feedforward gain for enhancing the stability of IPS. The optimal determining of VSAF parameters as well as Q and R matrices of RLQR are obtained by using a modified grey wolf optimizer with adaptive constants property via particle swarm optimization technique (GWO/PSO-AC). A comparison between the hybrid GWO/PSO-AC and classical GWO/PSO based on multi-objective function is provided to justify the superiority of the proposed technique. The IPS equipped with the hybrid GWO/PSO-AC-based controllers has minimum settling time, rise time, undershoot, and overshoot results for the two system outputs (cart position and pendulum angle). The system is subjected to robustness tests to ensure that the system can cope with small as well as significant disturbances.

scholarly journals Multibody Modeling and Balance Control of a Reaction Wheel Inverted Pendulum Using LQR Controller

2021 ◽  
Vol 1 (1) ◽  
pp. 84-89
Author(s):  
Ümit Önen ◽  
Abdullah Çakan
Keyword(s):  
State Space ◽  
Inverted Pendulum ◽  
Balance Control ◽  
Space Representation ◽  
Reaction Wheel ◽  
Linear Quadratic ◽  
Pendulum System ◽  
State Space Representation ◽  
Inverted Pendulum System ◽  
Lqr Controller

In this study, modeling and LQR control of a reaction wheel inverted pendulum system is described. The reaction wheel inverted pendulum model is created by using a 3D CAD platform and exported to Simscape Multibody. The multibody model is linearized to derive a state-space representation. A LQR (Linear-quadratic regulator) controller is designed and applied for balance control of the pendulum. The results show that deriving a state-space representation from multibody is an easy and effective way to model dynamic systems and balance control of the reaction wheel inverted pendulum is successfully achieved by LQR controller. Results are given in the form of graphics.

scholarly journals A Multiuser Detector Based on Artificial Bee Colony Algorithm for DS-UWB Systems

2013 ◽  
Vol 2013 ◽  
pp. 1-8 ◽  
Author(s):  
Zhendong Yin ◽  
Xiaohui Liu ◽  
Zhilu Wu
Keyword(s):  
Artificial Bee Colony Algorithm ◽  
Artificial Bee Colony ◽  
Additive White Gaussian Noise ◽  
Ultra Wideband ◽  
System Capacity ◽  
Food Sources ◽  
Solution Quality ◽  
Abc Algorithm ◽  
Bee Colony ◽  
Multiuser Detector

Artificial Bee Colony (ABC) algorithm is an optimization algorithm based on the intelligent behavior of honey bee swarm. The ABC algorithm was developed to solve optimizing numerical problems and revealed premising results in processing time and solution quality. In ABC, a colony of artificial bees search for rich artificial food sources; the optimizing numerical problems are converted to the problem of finding the best parameter which minimizes an objective function. Then, the artificial bees randomly discover a population of initial solutions and then iteratively improve them by employing the behavior: moving towards better solutions by means of a neighbor search mechanism while abandoning poor solutions. In this paper, an efficient multiuser detector based on a suboptimal code mapping multiuser detector and artificial bee colony algorithm (SCM-ABC-MUD) is proposed and implemented in direct-sequence ultra-wideband (DS-UWB) systems under the additive white Gaussian noise (AWGN) channel. The simulation results demonstrate that the BER and the near-far effect resistance performances of this proposed algorithm are quite close to those of the optimum multiuser detector (OMD) while its computational complexity is much lower than that of OMD. Furthermore, the BER performance of SCM-ABC-MUD is not sensitive to the number of active users and can obtain a large system capacity.

Topology Optimization of Multicell Tubes Under Out-of-Plane Crushing Using a Modified Artificial Bee Colony Algorithm

2017 ◽  
Vol 139 (7) ◽  
Author(s):  
Jianguang Fang ◽  
Guangyong Sun ◽  
Na Qiu ◽  
Grant P. Steven ◽  
Qing Li
Keyword(s):  
Topology Optimization ◽  
Artificial Bee Colony ◽  
Fitness Function ◽  
Food Sources ◽  
Abc Algorithm ◽  
Bee Colony ◽  
Design Variables ◽  
Highly Nonlinear ◽  
Out Of Plane ◽  
Energy Absorbing

Multicell tubal structures have generated increasing interest in engineering design for their excellent energy-absorbing characteristics when crushed through severe plastic deformation. To make more efficient use of the material, topology optimization was introduced to design multicell tubes under normal crushing. The design problem was formulated to maximize the energy absorption while constraining the structural mass. In this research, the presence or absence of inner walls were taken as design variables. To deal with such a highly nonlinear problem, a heuristic design methodology was proposed based on a modified artificial bee colony (ABC) algorithm, in which a constraint-driven mechanism was introduced to determine adjacent food sources for scout bees and neighborhood sources for employed and onlooker bees. The fitness function was customized according to the violation or the satisfaction of the constraints. This modified ABC algorithm was first verified by a square tube with seven design variables and then applied to four other examples with more design variables. The results demonstrated that the proposed heuristic algorithm is capable of handling the topology optimization of multicell tubes under out-of-plane crushing. They also confirmed that the optimized topological designs tend to allocate the material at the corners and around the outer walls. Moreover, the modified ABC algorithm was found to perform better than a genetic algorithm (GA) and traditional ABC in terms of best, worst, and average designs and the probability of obtaining the true optimal topological configuration.

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