The Intelligent Adjustment of LQR Controller Using Ants System Metaheuristic
Many approaches in automatic control are based on solving optimization problems. In the case of nonlinear systems, these optimization problems become difficult to solve in a reasonable computing time. Furthermore, most of the criteria are non-differentiable and even non analytical. In this paper we exploit the ants system metaheuristic to adjust the parameters of the state feedback controller in order to achieve some compromise between the use of control effort, the magnitude, and the speed of response that will guarantee a stable system. Practically, the simulation results show that the proposed method is indeed adaptive, robust and the optimised control is provided in a reasonable computing time.
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