American Journal of Applied Sciences | |
Real-Time Optimal Control for Rotary Inverted Pendulum | Science Publications | |
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
【 预 览 】
Files | Size | Format | View |
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RO201911300115868ZK.pdf | 639KB | download |