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Controlador LQR y SMC Aplicado a Plataformas Pendulares
Miguel F. Arevalo-Castiblanco,C. H. Rodríguez-Garavito,Alvaro A. Patiño-Forero,Jose F. Salazar-Caceres +3 more
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TLDR
In this paper, an optimal LQR controller and a Sliding Mode SMC controller were implemented on two commercial platforms, the Quanser rotary inverted pendulum (RotPen) and the Lego mobile inverted pendula (NxtWay).Abstract:
A pendular platform is a robotic structure commonly used in the design of controllers given its nonlinear dynamics; This work presents the modeling, design and implementation of an optimal LQR controller and a Sliding Mode SMC controller applied to two commercial platforms, the Quanser rotary inverted pendulum (RotPen) and the Lego mobile inverted pendulum (NxtWay). The contribution of this work is to present a methodology of implementation of LQR and SMC controllers on pendular platforms, attending the respective restrictions of hardware and software in commercial prototypes. The article presents the behavior of the controller designed on the analytical model compared to its implementation.read more
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Journal ArticleDOI
I and i
TL;DR: There is, I think, something ethereal about i —the square root of minus one, which seems an odd beast at that time—an intruder hovering on the edge of reality.
Journal ArticleDOI
Control por modos deslizantes para vehículo eléctrico con velocidad diferencial
H. Hidalgo,H. Huerta +1 more
TL;DR: In this paper, a control scheme to regulate the speed in an electric vehicle with two electric motors in the rear axle is presented, in order to make a turn in the vehicle a differential speed in the motors is needed.
Book ChapterDOI
Implementation of a Non-linear Fuzzy Takagi-Sugeno Controller Applied to a Mobile Inverted Pendulum
TL;DR: This paper presents the implementation of a nonlinear Fuzzy Takagi-Sugeno control with overlapped membership functions applied to a mobile inverted pendulum mechanism and its comparison against LQR in terms of state space behavior and robustness.
References
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Journal ArticleDOI
I and i
TL;DR: There is, I think, something ethereal about i —the square root of minus one, which seems an odd beast at that time—an intruder hovering on the edge of reality.
Journal ArticleDOI
Fuzzy identification of systems and its applications to modeling and control
T. Takagi,Michio Sugeno +1 more
TL;DR: A mathematical tool to build a fuzzy model of a system where fuzzy implications and reasoning are used is presented and two applications of the method to industrial processes are discussed: a water cleaning process and a converter in a steel-making process.
Book
Sliding Mode Control and Observation
TL;DR: The sliding mode control and observation (SOMO) approach has proven to be effective in dealing with complex dynamical systems affected by disturbances, uncertainties and unmodeled dynamics as discussed by the authors.