@inproceedings{5375adc76b9b4ea6bc5f6b2c54d3d208,
title = "LQR Discrete Controller Tuning for a TWIP Robot Based on Genetic Algorithms",
abstract = "A two wheeled inverted pendulum (TWIP), is an unstable system with highly non-linear dynamics. Therefore, it is necessary to design controllers that can react properly to different kinds of external disturbances, keeping tracking accuracy and robustness. The aim of this paper is tuning a Linear Quadratic Regulator (LQR) discrete controller using genetic algorithms (GA) for improve the reference tracking performance. The GA consider the ISE index in the reference tracking for the fitness function in order to obtain the optimal LQR controller parameters Q and R and state-feedback gains. Finally, test simulations are performed to compare the behavior of traditional LQR and the extended LQR-GA controller.",
keywords = "Genetic Algorithms, LQR, Lego Mindstorms, Two wheeled inverted pendulum robot, nonlinear model",
author = "Marco Herrera and Andres Cuaycal and Oscar Camacho and David Pozo",
note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 4th International Conference on Information Systems and Computer Science, INCISCOS 2019 ; Conference date: 20-11-2019 Through 22-11-2019",
year = "2019",
month = nov,
doi = "10.1109/INCISCOS49368.2019.00034",
language = "Ingl{\'e}s",
series = "Proceedings - 2019 International Conference on Information Systems and Computer Science, INCISCOS 2019",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "163--168",
booktitle = "Proceedings - 2019 International Conference on Information Systems and Computer Science, INCISCOS 2019",
}