Design and Simulation of LQR Controller with the Linear Inverted Pendulum

Wang, Hongliang; Dong, Haobin; He, Lianghua; Shi, Yongle; Zhang, Yuan

doi:10.1109/icece.2010.178

Cited by 41 publications

(22 citation statements)

References 2 publications

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“…Where y is the state column-vector, r is the desired state column-vector, Q and R are weight-defining matrices and F is determined by the state feedback law [23]. LQR control was achieved by using a linearization of the system presented in Eq.…”

Section: Lqr Controlmentioning

confidence: 99%

Implementation of a Perceptual Controller for an Inverted Pendulum Robot

Johnson

Zhou

Cheah

et al. 2020

J Intell Robot Syst

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Perceptual Control Theory (PCT) theorizes that a creature's behaviour is varied so that their perception can reach and maintain certain fixed limits, despite external disturbances. The distinguishing characteristic of PCT is that the controlled variables are the inputs (perceptions, as opposed to the system outputs). This paper presents the first direct comparison of a PCT controller for a mobile robot (a two-wheeled 'inverted pendulum' balancing robot) with a classical control method, LQR. Simulations and experimental validation results show that the performance of the PCT controller is comparable to the LQR controller and better at disturbance rejection.

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Section: Lqr Controlmentioning

confidence: 99%

Implementation of a Perceptual Controller for an Inverted Pendulum Robot

Johnson

Zhou

Cheah

et al. 2020

J Intell Robot Syst

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“…The rule base is given in Table 2. The membership functions for the velocity and yaw angle of the robot are given in Figure 4 [15] had discussed about the Implementation of LQR controllers on Inverted pendulum. Also [7] has an extensive section about how to implement using Matlab.…”

Section: Fuzzy Logicmentioning

confidence: 99%

Comparison of different control theories on a two wheeled self balancing robot

Rahman

Rashi

Hassan

et al. 2018

AIP Conference Proceedings

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This paper is aimed to discuss and compare three of the most famous Control Theories on a Two wheeled Self Balancing Robot Simulation using Robot Operating System (ROS) and Gazebo. Two Wheeled Self Balancing Robots are one of the most fascinating applications of Inverted Pendulum System. In this paper, PID, LQR and Fuzzy logic controllers are discussed . Also,0 the modeling and algorithms of the robot simulation is discussed. The primary objectives of this paper is to discuss about the building of a robot model in ROS and Gazebo , experimenting different control theories on them, documenting the whole process with the analysis of the robot and comparison of different control theories on the system.

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“…Therefore, the airship shape are designed based on circle and arc, with rounded features and non-directional, the internal structure to rely on the principle of the honeycomb conjecture. [9][10][11] In order to achieve the purpose of the flight, the use of mathematics in the relationship between point and surface, rational distribution its forward Motor System and balanced Motor System, and they are on the function both independent and cooperation [12]. They can achieve independently operation under artificial conditions.…”

Section: Research Of Software Systemmentioning

confidence: 99%

The Research and Design of Remote Control Airship for Substation Inspection

Wang¹,

Cao²,

Wang³

et al. 2013

Proceedings of the 3rd International Conference on Electric and Electronics

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Abstract-The main substation and transmission line inspection are using artificial inspection nowadays, especially under harsh operating environments and mountain difficult, the effect is not very satisfactory. But the number of helicopters is a limited ,about 1~2times every year. While the research and design of remote control aircraft based on DTMF technology will greatly solves these problems. This paper gives the system design, software systems, hardware systems and mechanical parts design, then introduces the codec in the remote system application methods to achieve substations and transmission lines for the purpose of inspection airship.

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Design and Simulation of LQR Controller with the Linear Inverted Pendulum

Cited by 41 publications

References 2 publications

Implementation of a Perceptual Controller for an Inverted Pendulum Robot

Implementation of a Perceptual Controller for an Inverted Pendulum Robot

Comparison of different control theories on a two wheeled self balancing robot

The Research and Design of Remote Control Airship for Substation Inspection

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