Optimal control for quadruple inverted pendulum
Corressponding author's email:
hainvd@hcmute.edu.vnKeywords:
Inverted Pendulum, Optimal control, LQR, Matlab, SimulinkAbstract
Inverted pendulum is a SIMO model (single-input and multi-output) which is popular in testing automatic control algorithm. The more degrees of freedom that an inverted pendulum system has, the more outputs that an input of the system has to control. This makes difficulties in controlling multilink inverted pendulum. This paper presents optimal control algorithms (LQR) in balancing the system in vertical upward-position. Matlab/Simulink simulation results show that the system is stabilized well around the absolute upward-position and also around other working points.
Downloads: 0
References
Olfar Boubaker, The inverted pendulum: a fundamental Benchmark in Control Theory and Robotics, pp 1-6, International Conference on Education and e-Learning Innovations (ICEELI), IEEE, 2012.
Simon Lam and Edward J. Davison, The real Stabilizability Radius of the Multi-Link Inverted Pendulum, Proceedings of the 2006 American Control Conference Minneapolis, Minnesota, USA, 2006.
Igor Ananyeski, Nikolay Anokhin, Control of a Multi-link Inverted Pendulum by a Single Torque, Vol. 7, I ssue. 1, 7th Vienna International Conference on Mathematical Modelling (MATHMOD), 2012.
I.M. Ananyeskii, N.V.Anokhin, Control of the spatial motion of a multilink inverted pendulum using a torque applied to the first link, Journal of Applied Mathematics and Mechanics, Elsivier, Vol. 78, No. 6, pp. 755-765, 2015
Dương Hoài Nghĩa, Hệ thống điều khiển đa biến, NXB ĐHQG TPHCM, 2007.
Spong, M.W and Block, D.J, The Pendubot: a mechatronic system for control research and education, Proceedings of the 34th IEEE Conference on Decision and Control, Vol. 1, pp. 555-556, 1995.
Alexander Bogdanov, Optimal Control of a Double Inverted Pendulum on a Cart, Technical Report CSE-04-006, OGI School of Science & Engineering, OHSU, 2004.
Jianqiang Yi, Naoyoshi Yubazaki, Kaoru Hirota, Stabilaztion control of series-type double inverted pendulum systems using the SIRMs dynamically connected fuzzy inference model, Journal of Artificial Intelligent in Engineering, Vol. 15, pp. 297-308, 2001.
Sehgal, S, Tiwari, S, LQR control for stabilizing triple link inverted pendulum, 2th International Conference on Power, Control and Embedded Systems (ICPCES), IEEE, pp. 1-5, 2012.
Tobias Gluck, Andreas Eder, Andreas Kugi, Swing-up Control of a Triple pendulum on a Cart with Experimental Validation, Journal Automatica (Journal of IFAC), Vol. 49, Issue 3, pp 801-808, 2013.
Downloads
Published
How to Cite
License
This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.
Copyright © JTE.
