基于PSO的二级倒立摆LQR最优控制器设计

根据微粒群算法的随机性、快速性、易于实现性等优点，针对LQR在二级倒立摆最优控制设计过程中对加权矩阵Q、R选择的盲目性，研究了基于PSO的LQR最优控制器的设计方法，该方法利用PSO算法的启发式全局优化特点对Q、R阵进行寻优，然后得到状态反馈控制律K。并设计了基于该方法的二级倒立摆的最优控制器，通过和基于遗传算法的LQR最优控制器比较，仿真结果表明：该方法所设计的最优控制器能使系统的响应时间更快，超调量更小，对二级倒立摆的控制效果更理想。

PSO based LQR Optimal Controller Design for Double Inverted Pendulum

According to Particle Swarm Optimization algorithm with advantages of randomness,rapidity and easy realizability,the LQR optimal controller design method based on PSO is studied which overcomes the choice blindness of weighting matrix of LQR in the design.process.This method makes use of PSO algorithm with heuristic global optimization to get Q、R and state feedback control law K.Double inverted pendulum optimal controller application of the method is designed,which overcomes the choice blindness of weighting matrix of LQR in the design process.Compared with the optimal controller based on genetic algorithm,the simulation results shows that the method designed for optimal controller enables the system response time faster,smaller overshoot and the control results to double inverted pendulum more satisfactory.