Control of Flexible Joint Cart based Inverted Pendulum using LQR and Fuzzy Logic System
نویسندگان
چکیده
منابع مشابه
Fuzzy-logic control of an inverted pendulum on a cart
1 Purpose The purpose of this experiment is to apply controller and observer design techniques to a physical “difficult-to-control” system, namely, the inverted pendulum on a cart system. The controller will mainly be designed via optimal control techniques. The control objective is for the cart to track a square wave while the pendulum remains upright. Also, the controller must be improve the ...
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Double Inverted Pendulum is a nonlinear system, unstable and fast reaction system. Double Inverted Pendulum is stable when its two pendulums allocated in vertically position and have no oscillation and movement and also inserting force should be zero. The aim of the paper is to design and performance analysis of the double inverted pendulum and simulation of Linear Quadratic Regulator (LQR) con...
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In this paper a design methodology for a novel robust adaptive backstepping controller for the stabilization control of an inverted pendulum on a movable cart, which is a benchmark control problem in the nonlinear control system paradigm, has been presented in a systematic manner. The proposed control law provides a systematic iterative formulation of a Lyapunov energy function for the inverted...
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ژورنال
عنوان ژورنال: Journal of Korean Institute of Intelligent Systems
سال: 2013
ISSN: 1976-9172
DOI: 10.5391/jkiis.2013.23.3.268