Proceedings ArticleDOI
Stabilization of Double Link Inverted Pendulum Using LQR
Ramashis Banerjee,Naiwrita Dey,Ujjwal Mondal,Bonhihotri Hazra +3 more
- pp 1-6
TLDR
The result shows and validate the comparative lead of LQR control strategy over conventional PID control strategy in double inverted pendulum-cart dynamic system.Abstract:
An double inverted pendulum on cart is an object which is a nonlinear, unstable system that is used as a standard for designing the control methods and finds most versatile application in the field of control theory. In this paper the mathematical modeling and control strategy of double inverted pendulum-cart dynamic system with disturbance input using PID and LQR have been stated. The states of the system are given to LQR controller which is obtained using linear state-feedback controller. The MATLAB-SIMULINK environment have been used for simulation of the control strategies. The aim of this work is to have a comparative study of two different control strategies and the analysis of performance of two different types of controller for double inverted pendulum on cart system have been obtained. The result shows and validate the comparative lead of LQR control strategy over conventional PID control strategy.read more
Citations
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Proceedings ArticleDOI
Modeling and Control of a Double Inverted Pendulum using LQR with Parameter Optimization through GA and PSO
Maki K. Habib,Samuel A. Ayankoso +1 more
TL;DR: In this article, the authors examined the control of a double inverted pendulum (DIP) using pole placement and linear quadratic regulator (LQR) control and found the optimal parameters of the LQR control law, GA and PSO to tune and determine the proper control parameters.
Journal ArticleDOI
Comparison of Linear Quadratic – Regulator and Gaussian – Controllers’ Performance, LQR and LQG: Ball-on-Sphere System as a Case Study
TL;DR: In this paper, the authors designed optimal LQR and LQG controllers for the system of ball-on-sphere and did a comparative analysis between the two controllers, and the results showed that both controllers met the desired system performance.
Journal ArticleDOI
Impact of a Multiple Pendulum with a Non-Linear Contact Force
Dan B. Marghitu,Jing Zhao +1 more
TL;DR: In this article, the impact of a kinematic chain in terms of a nonlinear contact force has been investigated, which has different expressions for elastic compression, elasto-plastic compression, and elastic restitution.
Journal ArticleDOI
Dynamic walking of humanoid robot on flat surface using amplified LIPM plus flywheel model
TL;DR: An attempt to produce a robust and expected walking gait is made by using an ALO (ant lion optimization) tuned linear inverted pendulum model plus flywheel (LIPM plus fly wheel) to provide the stabilized dynamic walking.
Journal ArticleDOI
System design for inverted pendulum using LQR control via IoT
TL;DR: A linear quadratic regulator model tuning and control was applied to the inverted pendulum using internet of things (IoT) and the system's conditions and performance could be monitored and controlled via personal computer (PC) and mobile phone.
References
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Optimal Control of Double Inverted Pendulum Using LQR Controller
TL;DR: Main focus is to introduce how to built the mathematical model and the analysis of it's system performance, then design and performance analysis of the double inverted pendulum and simulation of Linear Quadratic Regulator (LQR) controller.
Comparison of LQR and PD controller for stabilizing Double Inverted Pendulum System
TL;DR: In this paper, a comparison of the time specification performance between two type of controller for a Double Inverted Pendulum system is presented, the objective is to determine the control strategy that to deliver better performance with respect to pendulum angle's and cart position.