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“Stability Control Analysis of the Double Inverted Pendulum using Linear-Quadratic Regulator”
https://orcid.org/0000-0003-1218-2019
https://orcid.org/0000-0002-5966-5010
The double inverted pendulum on cart, which is a variation of underactuated mechanical systems has grown popular in the control research community due to its complexity and advantages in various applications. In this paper, the double inverted pendulum on a cart is analyzed using the Euler-Lagrange approach to obtain the equations of motion which are used in Matlab-Simulink to simulate the system. The aim of this study is to use the mathematical model in implementing a linear-quadratic regulator (LQR) control to stabilize the double inverted pendulum in its upright position. A system with such complex dynamics is expected to be coupled, unstable, and highly nonlinear. The simulations demonstrated that the double inverted pendulum on cart can be stabilized using LQR-based control for initial angles less than fifteen degrees from the vertical.
“Stability Control Analysis of the Double Inverted Pendulum using Linear-Quadratic Regulator”
https://orcid.org/0000-0003-1218-2019
https://orcid.org/0000-0002-5966-5010
The double inverted pendulum on cart, which is a variation of underactuated mechanical systems has grown popular in the control research community due to its complexity and advantages in various applications. In this paper, the double inverted pendulum on a cart is analyzed using the Euler-Lagrange approach to obtain the equations of motion which are used in Matlab-Simulink to simulate the system. The aim of this study is to use the mathematical model in implementing a linear-quadratic regulator (LQR) control to stabilize the double inverted pendulum in its upright position. A system with such complex dynamics is expected to be coupled, unstable, and highly nonlinear. The simulations demonstrated that the double inverted pendulum on cart can be stabilized using LQR-based control for initial angles less than fifteen degrees from the vertical.
“Stability Control Analysis of the Double Inverted Pendulum using Linear-Quadratic Regulator”
https://orcid.org/0000-0003-1218-2019
https://orcid.org/0000-0002-5966-5010
The double inverted pendulum on cart, which is a variation of underactuated mechanical systems has grown popular in the control research community due to its complexity and advantages in various applications. In this paper, the double inverted pendulum on a cart is analyzed using the Euler-Lagrange approach to obtain the equations of motion which are used in Matlab-Simulink to simulate the system. The aim of this study is to use the mathematical model in implementing a linear-quadratic regulator (LQR) control to stabilize the double inverted pendulum in its upright position. A system with such complex dynamics is expected to be coupled, unstable, and highly nonlinear. The simulations demonstrated that the double inverted pendulum on cart can be stabilized using LQR-based control for initial angles less than fifteen degrees from the vertical.
“Stability Control Analysis of the Double Inverted Pendulum using Linear-Quadratic Regulator”
Rahmani, Abdulrahman (Autor:in) / Harib, Khalifa Hamad (Autor:in) / Sureshkumar, Vyshak (Autor:in) / Oseni, Adewale Oriyomi (Autor:in)
20.02.2023
632982 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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