Search results for " inverted pendulum"

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LQG Control Design for Balancing an Inverted Pendulum Mobile Robot

2011

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 succe…

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 robotIntelligent Control and Automation

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