Design of a linear quadratic regulator based on genetic model reference adaptive control

• Autorzy: Abdullah Abdullah I. , Mahmood Ali. , Thanoon Mohammad A.

Identyfikatory

DOI

10.14313/JAMRIS/3-2022/26

• Języki publikacji: EN

Abstrakty

EN

The conventional control system is a controller that controls or regulates the dynamics of any other process. From time to time, a conventional control system may not behave appropriately online; this is because of many factors like a variation in the dynamics of the process itself, unexpected changes in the environment, or even undefined parameters of the system model. To overcome this problem, we have designed and implemented an adaptive controller. This paper discusses the design of a controller for a ball and beam system with Genetic Model Reference Adaptive Control (GMRAC) for an adaptive mechanism with the MIT rule. Parameter adjustment (selection) should occur using optimization methods to obtain an optimal performance, so the genetic algorithm (GA) will be used as an optimization method to obtain the optimum values for these parameters. The Linear Quadratic Regulator (LQR) controller will be used as it is one of the most popular controllers. The performance of the proposed controller with the ball and beam system will be carried out with MATLAB Simulink in order to evaluate its effectiveness. The results show satisfactory performance where the position of the ball tracks the desired model reference.

Słowa kluczowe

EN

model reference adaptive control; gradient approach; Linear Quadratic Regulator; genetic algorithm

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2022
• Tom: Vol. 16, No. 3
• Strony: 75--81
• Opis fizyczny: Bibliogr. 28 poz., rys.

Twórcy

autor

Abdullah Abdullah I.

• Systems and Control Engineering Department, Ninevah University, Mosul, 40001, Iraq

autor

Mahmood Ali.

• Systems and Control Engineering Department, Ninevah University, Mosul, 40001, Iraq

autor

Thanoon Mohammad A.

• Systems and Control Engineering Department, Ninevah University, Mosul, 40001, Iraq

Bibliografia

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Uwagi

Opracowanie rekordu ze środków MEiN, umowa nr SONP/SP/546092/2022 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2022-2023).