摘要
针对Riccati方程中系数矩阵Q和R的调整需凭经验和多次试凑的不足,采用递推最小二乘法对系数矩阵进行在线调整,使系数矩阵的参数进行在线优化,更好地发挥了LQR控制器的优势。仿真实验结果表明了递推最小二乘法在一级倒立摆LQR控制器参数调整过程中的有效性。
The Q and R matrix in Riccati equation are often regulated by experience and it＇s hard to attain the optimal parameter set. The recursive least square can regulate the Q and R matrix dynamicly and rapidly. Simulation results indicate that the recursive least square can effectively regulate the Q and R parameters in single stage inverted pendulum controller and this method is convenient and efficient.
出处
《弹箭与制导学报》
CSCD
北大核心
2007年第4期99-101,共3页
Journal of Projectiles,Rockets,Missiles and Guidance
关键词
递推最小二乘法
线性二次型调节器
倒立摆
recursive least square
linear quadratic regulator
inverted pendulum
