LQR controller design for stabilization of non-linear DIP system based on ABC algorithm

Abstract

Inverted pendulum systems, such as double or single, rotational or translational inverted pendulums are non-linear and unstable, which have been the most dominant approaches for control systems. The double inverted pendulum is one kind of a non-linear, unstable system, multivariable, and strong coupling with a wide range of control methods. To model these types of systems, many techniques have been proposed so that motivating researchers to come up with new innovative solutions. The Linear Quadratic Regulator (LQR) controller has been a common controller used in this field. Meanwhile, the Artificial Bee Colony (ABC) technique has become an alternative solution for employing Bee Swarm Intelligence algorithms. The research solutions of the artificial bee colony algorithm in the literature can be beneficial, however, the utilization of discovered sources of food is ineffective. Thus, in this paper, we aim to provide a double inverted pendulum system for stabilization by selecting linear quadratic regulator parameters using a bio-inspired optimization methodology of artificial bee colony and weight matrices Q and R. The results show that when the artificial bee colony algorithm is applied to a linear quadratic regulator controller, it gains the capacity to autonomously tune itself in an online process. To further demonstrate the efficiency and viability of the suggested methodology, simulations have been performed and compared to conventional linear quadratic regulator controllers. The obtained results demonstrate that employing artificial intelligence (AI) together with the proposed controller outperforms the conventional linear quadratic regulator controllers by more than 50 % in transient response and improved time response and stability performance