Real Time Swinging Up and Stabilizing a Double Inverted Pendulum Using PID-LQR: Fid-Bau Portal

Fachinformationsdienst BAUdigital

Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik

Real Time Swinging Up and Stabilizing a Double Inverted Pendulum Using PID-LQR

Shala Erjon / Bajrami Xhevahir / Likaj Rame / Pajaziti Arbnor

This study describes a method for swinging up and stabilizing a double inverted pendulum (DIP) in real-time utilizing a PID-LQR combined control system. Firstly, a dynamic model of the double inverted pendulum system is made up and the equations of motion are constructed. The pendulum then is moved from its unstable position to a stable one using a PID-LQR controller. A comparison of the PID-LQR controller’s output and suggestions for improving system stability is presented and is suggested combined control system.

Zugriff

Seitennavigation

Dokumentinformationen

Ähnliche Titel

Exportieren, teilen und zitieren

Real Time Swinging Up and Stabilizing a Double Inverted Pendulum Using PID-LQR

Shala Erjon / Bajrami Xhevahir / Likaj Rame / Pajaziti Arbnor

This study describes a method for swinging up and stabilizing a double inverted pendulum (DIP) in real-time utilizing a PID-LQR combined control system. Firstly, a dynamic model of the double inverted pendulum system is made up and the equations of motion are constructed. The pendulum then is moved from its unstable position to a stable one using a PID-LQR controller. A comparison of the PID-LQR controller’s output and suggestions for improving system stability is presented and is suggested combined control system.

Real Time Swinging Up and Stabilizing a Double Inverted Pendulum Using PID-LQR

Shala Erjon / Bajrami Xhevahir / Likaj Rame / Pajaziti Arbnor

This study describes a method for swinging up and stabilizing a double inverted pendulum (DIP) in real-time utilizing a PID-LQR combined control system. Firstly, a dynamic model of the double inverted pendulum system is made up and the equations of motion are constructed. The pendulum then is moved from its unstable position to a stable one using a PID-LQR controller. A comparison of the PID-LQR controller’s output and suggestions for improving system stability is presented and is suggested combined control system.

Zugriff

Seitennavigation

Dokumentinformationen

Ähnliche Titel

Exportieren, teilen und zitieren

Dokumentinformationen

Titel:

Real Time Swinging Up and Stabilizing a Double Inverted Pendulum Using PID-LQR

Beteiligte:

Shala Erjon (Autor:in) / Bajrami Xhevahir (Autor:in) / Likaj Rame (Autor:in) / Pajaziti Arbnor (Autor:in)

Erschienen in:

Journal of Mechanical Engineering, Vol 73, Iss 1, Pp 159-168 (2023)

Erscheinungsdatum:

2023

ISSN:

DOI:

https://doi.org/10.2478/scjme-2023-0013

Medientyp:

Aufsatz (Zeitschrift)

Format:

Elektronische Ressource

Sprache:

Unbekannt

Schlagwörter:

real-time control , double inverted pendulum , pid-lqr control , swing up and stabilization , Engineering (General). Civil engineering (General) , TA1-2040

Metadata by DOAJ is licensed under CC BY-SA 1.0

Ähnliche Titel

The Swinging Pendulum: A Receiving System Perspective

Herricks, E. / American Society of Civil Engineers; Water Resources Planning and Management Division | British Library Conference Proceedings | 1995

Modeling and Application of a Double Inverted Pendulum

Shi, X.-x. / Zhang, Z.-d. / Li, J.-f. et al. | British Library Online Contents | 2001

DOUBLE SWINGING CONSOLE BOX

TOYAMA TAKUYA / NAKAMURA KENGO / SUGIYAMA TAKAHIRO | Europäisches Patentamt | 2020

Freier Zugriff

DOUBLE SWINGING STORAGE DEVICE

IKE YASUFUMI / HISHIDA YU / NODA TAKEMASA et al. | Europäisches Patentamt | 2019

Freier Zugriff

Adaptive Kalman Filtering Model Predictive Controller Design for Stabilizing and Trajectory Tracking of Inverted Pendulum

Patra, Akshaya Kumar | Springer Verlag | 2020