6533b85efe1ef96bd12c09ef

RESEARCH PRODUCT

LQG Control Design for Balancing an Inverted Pendulum Mobile Robot

Alexander StamsøHamid Reza KarimiRagnar EidePer Magne Egelid

subject

VDP::Mathematics and natural science: 400::Mathematics: 410::Applied mathematics: 413Engineeringbusiness.industryVDP::Technology: 500::Mechanical engineering: 570Control (management)PendulumControl engineeringMobile robotLinear quadraticLinear-quadratic-Gaussian controlInverted pendulumComputer Science::RoboticsComputer Science::Systems and ControlPosition (vector)Control theoryRobotbusinessLQG control inverted pendulum mobile robot

description

Author's version of an article published in the journal: Intelligent Control and Automation. Also available from the publisher at: http://dx.doi.org/10.4236/ica.2011.22019 The objective of this paper is to design linear quadratic controllers for a system with an inverted pendulum on a mobile robot. To this goal, it has to be determined which control strategy delivers better performance with respect to pendulum’s angle and the robot’s position. The inverted pendulum represents a challenging control problem, since it continually moves toward an uncontrolled state. Simulation study has been done in MATLAB Simulink environment shows that both LQR and LQG are capable to control this system success-fully. The result shows, however, that LQR produced better response compared to a LQG strategy.

yearjournalcountryeditionlanguage
2011-01-01Intelligent Control and Automation
https://doi.org/10.4236/ica.2011.22019