Using Adaptive Gain Scheduling LQR Method Control of Arm Driven Inverted Pendulum System Based on PIC18F4431
Huu Chan Thanh Nguyen, An-Wen Shen
( Department of Control Science and Engineering, HuaZhong University of Science and Technology, WuHan 430074, China)
Abstract:
The arm driven inverted pendulum system is a highly nonlinear model, multivariable and absolutely unstable dynamic system so it is very difficult to obtain exact mathematical model and balance the inverted pendulum with variable position of the arm. To solve this problem, this paper presents a mathematical model for arm driven inverted pendulum in mid-position configuration and an adaptive gain scheduling linear quadratic regulator control method for the stabilizing the inverted pendulum. The proposed controllers for arm driven inverted pendulum are simulated using MATLAB-SIMULINK and implemented on an experiment system using PIC 18F4431 microcontroller. The result of experiment system shows the control performance to be very good in a wide range stabilization of the arm position.
Key words: Arm Driven Inverted Pendulum (ADIP) adaptive gain scheduling LQR control LQR control swing up pendlum
DOI：10.11916/j.issn.1005-9113.2013.04.014
Clc Number:12163
Fund:
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Using Adaptive Gain Scheduling LQR Method Control of Arm Driven Inverted Pendulum System Based on PI
本站小编 哈尔滨工业大学/2019-10-24
相关话题/Using Adaptive Gain Scheduling LQR
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