Journal of the Korean Society of Industry Convergence (한국산업융합학회 논문집)

The Korean Society of Industry Convergence (한국산업융합학회)
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LQ control by linear model of Inverted Pendulum Robot for Robust Human Tracking

도립형 로봇의 강건한 인간추적을 위한 선형화 모델기반 LQ제어

  • Jin, Taeseok (Mechatronics engineering at Dongseo University)
  • 진태석 (동서대학교 메카트로닉스공학과)
  • Received : 2019.12.18
  • Accepted : 2020.02.03
  • Published : 2020.02.28
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Abstract

This paper presents the system modeling, analysis, and controller design and implementation with a inverted pendulum system in order to test Linear Quadratic control based robust algorithm for inverted pendulum robot. The balancing of an inverted pendulum robot by moving pendulum robot like as 'segway' along a horizontal track is a classic problem in the area of control. This paper will describe two methods to swing a pendulum attached to a cart from an initial downwards position to an upright position and maintain that state. The results of real experiment show that the proposed control system has superior performance for following a reference command at certain initial conditions.

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References

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