基于极点放置和LQR的有扰动小车倒立摆跟踪控制

2017 International Conference on Emerging Trends in Computing and Communication Technologies (ICETCCT) Pub Date : 2017-11-01 DOI:10.1109/ICETCCT.2017.8280311

Chandramani Mahapatra, S. Chauhan

{"title":"基于极点放置和LQR的有扰动小车倒立摆跟踪控制","authors":"Chandramani Mahapatra, S. Chauhan","doi":"10.1109/ICETCCT.2017.8280311","DOIUrl":null,"url":null,"abstract":"This paper presents the Mathematical non-linear model of Inverted Pendulum (IP) system on a cart based on Lagrange's Equation. The linearization is done through Tayler's series approximation. Linear Quadratic Regulator (LQR) and Pole Placement control strategy are used for solving tracking problem and stabilization of pendulum around upright position. Square wave is used as reference signal for IP tracking. Simulation results are compared with and without disturbances for both the control strategy. The performance of controllers is obtained based on specification of response time and disturbance rejection level. The performance of LQR is better than pole placement control.","PeriodicalId":436902,"journal":{"name":"2017 International Conference on Emerging Trends in Computing and Communication Technologies (ICETCCT)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"12","resultStr":"{\"title\":\"Tracking control of inverted pendulum on a cart with disturbance using pole placement and LQR\",\"authors\":\"Chandramani Mahapatra, S. Chauhan\",\"doi\":\"10.1109/ICETCCT.2017.8280311\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper presents the Mathematical non-linear model of Inverted Pendulum (IP) system on a cart based on Lagrange's Equation. The linearization is done through Tayler's series approximation. Linear Quadratic Regulator (LQR) and Pole Placement control strategy are used for solving tracking problem and stabilization of pendulum around upright position. Square wave is used as reference signal for IP tracking. Simulation results are compared with and without disturbances for both the control strategy. The performance of controllers is obtained based on specification of response time and disturbance rejection level. The performance of LQR is better than pole placement control.\",\"PeriodicalId\":436902,\"journal\":{\"name\":\"2017 International Conference on Emerging Trends in Computing and Communication Technologies (ICETCCT)\",\"volume\":\"5 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2017-11-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"12\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2017 International Conference on Emerging Trends in Computing and Communication Technologies (ICETCCT)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICETCCT.2017.8280311\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2017 International Conference on Emerging Trends in Computing and Communication Technologies (ICETCCT)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICETCCT.2017.8280311","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 12

摘要

基于拉格朗日方程，建立了小车倒立摆系统的非线性数学模型。线性化是通过泰勒级数近似完成的。采用线性二次型调节器(LQR)和极点放置控制策略来解决摆摆绕垂直位置的跟踪和稳定问题。采用方波作为参考信号进行IP跟踪。仿真结果比较了两种控制策略在有干扰和无干扰情况下的效果。控制器的性能是根据响应时间和抗扰水平来确定的。LQR的性能优于极点放置控制。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Tracking control of inverted pendulum on a cart with disturbance using pole placement and LQR

This paper presents the Mathematical non-linear model of Inverted Pendulum (IP) system on a cart based on Lagrange's Equation. The linearization is done through Tayler's series approximation. Linear Quadratic Regulator (LQR) and Pole Placement control strategy are used for solving tracking problem and stabilization of pendulum around upright position. Square wave is used as reference signal for IP tracking. Simulation results are compared with and without disturbances for both the control strategy. The performance of controllers is obtained based on specification of response time and disturbance rejection level. The performance of LQR is better than pole placement control.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

2017 International Conference on Emerging Trends in Computing and Communication Technologies (ICETCCT)

自引率

0.00%

发文量