Swing-up and LQR stabilization of a rotary inverted pendulum |
| |
Authors: | Minho Park Yeoun-Jae Kim and Ju-Jang Lee |
| |
Affiliation: | (1) Instituto Polit?cnico Nacional, Centro de Investigaci?n en Computaci?n, M?xico, D.F., M?xico |
| |
Abstract: | In this article, we consider the swing-up and linear quadratic regulator (LQR) stabilization of a rotary inverted pendulum.
A DC motor rotates a rigid arm. At the end of the rigid arm is a joint with a pendulum suspended from it. Two encoders check
the degree of the rigid arm and the pendulum every 0.5 ms. This article describes a modified bang-bang control which swings
the pendulum up safely and fast. In order to solve the stabilization problem, we used a linear quadratic regulator. When the
user gives a large disturbance to the pendulum so that it loses its position, it quickly recovers to the upright position.
Experimental results showed that the proposed bang-bang and LQR controllers can stabilize a rotary inverted pendulum system
within 3.0 s from any starting point. The system also showed robustness to a large disturbance. |
| |
Keywords: | |
本文献已被 SpringerLink 等数据库收录! |
|