The application of IWO in LQR controller design for the Robogymnast

Ismail, Hafizul ORCID: https://orcid.org/0000-0002-9594-3700, Packianather, Michael Sylvester ORCID: https://orcid.org/0000-0002-9436-8206, Grosvenor, Roger Ivor ORCID: https://orcid.org/0000-0001-8942-4640 and Eldukhri, Eldaw Elzaki 2016. The application of IWO in LQR controller design for the Robogymnast. Presented at: SAI Intelligent Systems Conference 2015 (IntelliSys), London, UK, 10-11 November 2015. 2015 SAI Intelligent Systems Conference (IntelliSys 2015). Institute of Electrical and Electronics Engineers (IEEE), pp. 274-279. 10.1109/IntelliSys.2015.7361154

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Abstract

In this study, invasive weed optimization (IWO) was used to investigate the optimum Q values of the linear quadratic regulator (LQR) for the inverted balance control of the Robo-gymnast. The Robogymnast is a triple-link pendulum developed to study control problems associated with complex underactuated mechanisms, particularly inverted pendulums. Built to exploit the natural dynamics of the mechanism, it mimics the human acrobat swinging from a high bar. Two motors, located on joint 2 (hips) and joint 3 (knees), control the movement of the mechanism. Joint 1 (hands/arms) is firmly attached to a freely rotating high bar mounted on ball bearings. The LQR is a popular and commonly used controller that employs feedback gains as part of its control mechanism. The main contribution of this paper is to demonstrate how the IWO can be used successfully to obtain the optimal Q values required by the LQR to maintain the Robogymnast in an upright configuration.

Item Type:	Conference or Workshop Item (Paper)
Date Type:	Publication
Status:	Published
Schools:	Engineering
Subjects:	T Technology > TA Engineering (General). Civil engineering (General)
Publisher:	Institute of Electrical and Electronics Engineers (IEEE)
ISBN:	9781467376075
Last Modified:	02 Nov 2022 10:19
URI:	https://orca.cardiff.ac.uk/id/eprint/98278

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