LQR control method

This paper introduces an innovative method for achieving stability of the highly nonlinear and unstable double inverted pendulum using a combination of linear matrix inequality (LMI) techniques and sliding mode control (SMC). Sliding mode control is a widely used technique for stabilizing the highly unstable and nonlinear double inverted pendulum system.

7p vimichaelfaraday 14-12-2023 6 5   Download

This paper presents a direction for creating a cheap RIP. Thence, authors apply LQR, a balancing control algorithm, and Furuta, a classical swing up the controller, on this model. Both controllers are designed based on a mathematical model of a real system.

9p vidoctorstrange 06-05-2023 7 4   Download

Most kinds of robots in researches are in solid structures. In these models, Euler-Lagrange method is easily used to obtain dynamic equations for simulation and obtaining controllers. But, actually, there is always flexibility - even very small or remarkable – in all kinds of robots. This research solves a problem in modelling a complex robot with a flexible link-flexible inverted pendulum- by presenting a method to simplify that robot.

8p vidoctorstrange 06-05-2023 6 4   Download

The paper introduces the LQR (liner quadratic regulator) controller optimization method by GA (genetic algorithm) controlling the inverted pendulum on a cart. The paper also presents the model’s kinetic equation. Authors build up the LQR controllers to stabilize the model. Q matrix is selected by both experiences and GA.

7p vidoctorstrange 06-05-2023 7 2   Download

In this article, the authors use three control algorithms on the inverted wedge, including of LQR, Fuzzy Control and neuro-fuzzy. Simulation results show that all methods can balance the inverted wedge.

8p vidoctorstrange 06-05-2023 8 2   Download

This paper surveys the effect of velocity on the stability of tractors - semi trailers. Tractors - semi trailer is modelled and simulated using Matlab - Simulink software on the time domain in the cornering manuever. The results show that rollover of the trailer - semi trailer occurred when the forward velocity at the front and rear axle of the tractor reached 62.97km/h and 54.62km/h. and the velocity at the rear axle of semi trailer is 57.91km/h.

4p caygaocaolon10 05-02-2021 19 1   Download

In this paper, a robust PI controller in combination with a linear quadratic regulator (LQR) is proposed to control a two-wheeled inverted pendulum robot (TWIPR) such that it is kept balanced while moving. The proposed TWIPR control system consists of two control loops. The inner loop has two PI controllers for two DC motors’ currents, which are separately designed based on a robust PI controller structure. The outer loop contains a LQR controller for the tilt angle, heading angle and position of the TWIPR.

15p 12120609 01-06-2020 26 2   Download

In this paper, a method to estimate the disturbance which considers input noise affect the system based on the observation is proposed. When the motion system is influenced by the input noise that means the control signal is added with a mount of disturbance.

6p thithizone 16-07-2019 19 1   Download