Real-Time Optimal Control for Rotary Inverted Pendulum | Science Publications

American Journal of Applied Sciences

Viroch Sukontanakarn¹  Manukid Parnichkun¹ 

关键词: Real-time control;    linear quadratic regulator controller;    energy based on PD controller;    balancing;    self-erecting;   

DOI  :  10.3844/ajassp.2009.1106.1115

学科分类：自然科学（综合）

来源: Science Publications

【 摘 要 】

Problem statement: The rotary inverted pendulum system was a highly nonlinear model, multivariable and absolutely unstable dynamic system. It was used for testing various design control techniques and in teaching modern control. The objectives of this study were to: (i) Develop a real rotary inverted pendulum which derived the mechanical model by using Euler-Lagrange and (ii) Design controller algorithm for self-erecting and balancing of a rotary inverted pendulum. Approach: Research shown a convenient way to implement a real-time control in self-erecting a pendulum from downward position and balancing the pendulum in vertical-upright position. An Energy based on PD controller was applied in self-erecting of the pendulum while LQR controller was applied to balance the pendulum. Results: Results of both control techniques from computer simulation and experiment were given to show the effectiveness of these controllers. Conclusion: Both simulations and experiments were confirmed the control efficiency of the method.

【 授权许可】

Unknown