Design Of LQR Based Stabilizer For Rotary Inverted Pendulum System
نویسنده
چکیده
This paper presents the design of optimal controller for nonlinear Rotary Inverted Pendulum (RIP) dynamic system using Linear Quadratic Regulator (LQR). LQR, an optimal control technique is generally used for control of the linear dynamical systems, have been used in this paper to control the non linear dynamical system. The non linear system states are fed to LQR which is designed using linear state-space model. Inverted pendulum, a highly nonlinear unstable system is used as a benchmark for implementing the control methods. Here the controller objective is to control the system such that the arm reaches at a desired position and the inverted pendulum stabilizes in upright position. The MATLAB-SIMULINK model has been developed for implementation of control schemes. The same controllers have been tested on a test bed of Quanser QUBE-Servo hardware system and the results are compared in various aspects to verify the effi ciency of the proposed controller.
منابع مشابه
Modeling and Controller Designing of Rotary Inverted Pendulum (RIP)-Comparison by Using Various Design Methods
_ Inverted pendulum control is one of the fundamental and interesting problems in the field of control theory. This paper describes the steps to design various controllers for a rotary motion inverted pendulum which is operated by a rotary servo plant, SRV 02 Series. Nonlinear model of the rotary inverted pendulum and linear model (Upright) in the neighborhood of an equilibrium state are descri...
متن کاملUsing Hybrid And LQR Method Control Of A Self-Erecting Rotary Inverted Pendulum System Based On PIC 18F4431
The rotary inverted pendulum system was a highly nonlinear model, multivariable and absolutely unstable dynamic system. This paper presents hybrid control method for swing up and LQR control method for the stabilization. The flexibility of the hybrid control method based on the selection of heuristic swing up controller and energy swing up controller at the different positions of pendulum. The ...
متن کاملReal-Time Optimal Control for Rotary Inverted Pendulum
Problem statement: The rotary inverted pendulum system was a highly nonlinear model, multivariable and absolutely unstable dynamic system. It was used for testing various design control techniques and in teaching modern control. The objectives of this study were to: (i) Develop a real rotary inverted pendulum which derived the mechanical model by using Euler-Lagrange and (ii) Design controller ...
متن کاملMINIMUM TIME SWING UP AND STABILIZATION OF ROTARY INVERTED PENDULUM USING PULSE STEP CONTROL
This paper proposes an approach for the minimum time swing upof a rotary inverted pendulum. Our rotary inverted pendulum is supported bya pivot arm. The pivot arm rotates in a horizontal plane by means of a servomotor. The opposite end of the arm is instrumented with a joint whose axisis along the radial direction of the motor. A pendulum is suspended at thejoint. The task is to design a contro...
متن کاملA Comparative study of controllers for stabilizing a Rotary Inverted Pendulum
This paper describes comparative study of various controllers on Rotary Inverted Pendulum (RIP). PID, LQR, FUZZY LOGIC and H∞ controllers are tried on RIP in MatLab Simulink. The same four controllers have been tested on test bed of RIP system the controllers are compared from various aspects. The controllers in simulink are compared with the controllers in real time.
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2016