LQR control on linear model of flexible inverted pendulum
Email tác giả liên hệ:
1781106@student.hcmute.edu.vnTừ khóa:
Flexible inverted pendulum, Inverted pendulum on Cart, Distributed parameter system, LQR control, Genetic algorithmTóm tắt
Most kinds of robots in researches are in solid structures. In these models, Euler-Lagrange method is easily used to obtain dynamic equations for simulation and obtaining controllers. But, actually, there is always flexibility - even very small or remarkable – in all kinds of robots. This research solves a problem in modelling a complex robot with a flexible link-flexible inverted pendulum- by presenting a method to simplify that robot. Thence, controller and simulation of controlling model can be tested. The flexible inverted pendulum is a distributed parameter system which is developed from cart and pole system, a robot with all solid links. An investigation of applying LQR control on this model is examined. In simulation, approximated dynamic equations are presented. The knowledge of the structure of the model leads to designing a linear LQR controller. Genetic algorithm is successfully utilized to optimize the controller. After a survey in a simulation, a hardware platform is presented and tested. In an experiment, LQR is proven to work well and suit theoretical points.
Tải xuống: 0
Tài liệu tham khảo
Slavka Jadlovska, Jan Sarnovsky, Jaroslav Vojtek, Dominik Voscek, Advanced Generalized Modeling of Classical Inverted Pendulum Systems, Emergent Trends in Robotics and Intelligent Systems, pp. 255-264, AISC, Vol. 316, 2015.
Tang Jiali, Ren Gexue, Modeling and Simulation of a Flexible Inverted Pendulum System, Tsinghua Science and Technology, ISSN: 1007-0214, pp. 22-26, Vol. 14, Nr. S2, 2009.
Tu Xu, Cuifang Zhang, Multi-level Linear Flexible Inverted Pendulum Modeling, Applied Mechanics and Materials, ISSN: 1662-7482, Vol. 518, pp. 290-296, 2014.
Ashwani Kharola, Pravin Patil, Fuzzy Hybrid Control of Flexible Inverted Pendulum (FIP) System using Soft-computing Techniques, Pertanika Journal of Science & Technology, 25(4): 1189-1202, 20017.
Minh Hoang Nguyen, Van Thuyen Ngo, Minh Tam Nguyen, Thi Thanh Hoang Le, Van Dong Hai Nguyen, Designing Linear Feedback Controller for Elastic Inverted Pendulum with Tip Mass, Journal of Robotica&Management, Vol. 21, Nr. 2, 2016.
Sanket K. Gorade, Shailaja R. Kurode, Mathematical Modeling of Flexible Inverted Pednulum on Cart with Tip Mass, 27th Chinese Control and decision Conference, pp. 5584-5589, IEEE, 2015.
S. van Mourika, H. Zwarta and K.J. Keesman, Modelling and controller design for distributed parameter systems via residence time distribution, International Journal of Control, Vol. 82, No. 8, pp. 1404–1413, 2009.
Brian D. O. Anderson, John B. Moore, Optimal Control: Linear Quadratic Methods, (Dover Books on Engineering), 2007.
Hong, Jie-Ren, Balance Control of a Car-Pole Inverted Pendulum System, Master Thesis, National Chengkung University, Taiwan, 2002.
Tải xuống
Đã Xuất bản
Cách trích dẫn
Số
Chuyên mục
Categories
Giấy phép
Tác phẩm này được cấp phép theo Giấy phép quốc tế Creative Commons Attribution-NonCommercial 4.0 .
Bản quyền thuộc về JTE.
