{"title":"旋转式双倒立摆的线性控制方法","authors":"Minh-Duy Vo, Van-Dat Nguyen, Dac-Hoa Huynh, Trung-Hieu-Duy Phan, Tuan-Nam Nguyen, Nguyen-Anh-Khoa Dinh, Minh-Duc Tran, Minh-Tai Vo","doi":"10.24193/rm.2023.1.8","DOIUrl":null,"url":null,"abstract":"In this article, the rotary double parallel inverted pendulum (RDPIP) is researched and presented. Additionally, some linear controllers, such as PID, PID, PID-LQR cascade, are proposed, developed to control RDPIP, and the impact of those controllers on the rotary double inverted pendulum was examined. The research and simulation results are implemented in the Matlab/Simulink toolbox to prove the ability of these types of controller in balancing this model.","PeriodicalId":31066,"journal":{"name":"Robotica Management","volume":"21 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Linear Control Schemes for Rotary Double Inverted Pendulum\",\"authors\":\"Minh-Duy Vo, Van-Dat Nguyen, Dac-Hoa Huynh, Trung-Hieu-Duy Phan, Tuan-Nam Nguyen, Nguyen-Anh-Khoa Dinh, Minh-Duc Tran, Minh-Tai Vo\",\"doi\":\"10.24193/rm.2023.1.8\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this article, the rotary double parallel inverted pendulum (RDPIP) is researched and presented. Additionally, some linear controllers, such as PID, PID, PID-LQR cascade, are proposed, developed to control RDPIP, and the impact of those controllers on the rotary double inverted pendulum was examined. The research and simulation results are implemented in the Matlab/Simulink toolbox to prove the ability of these types of controller in balancing this model.\",\"PeriodicalId\":31066,\"journal\":{\"name\":\"Robotica Management\",\"volume\":\"21 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2023-01-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Robotica Management\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.24193/rm.2023.1.8\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Robotica Management","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.24193/rm.2023.1.8","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Linear Control Schemes for Rotary Double Inverted Pendulum
In this article, the rotary double parallel inverted pendulum (RDPIP) is researched and presented. Additionally, some linear controllers, such as PID, PID, PID-LQR cascade, are proposed, developed to control RDPIP, and the impact of those controllers on the rotary double inverted pendulum was examined. The research and simulation results are implemented in the Matlab/Simulink toolbox to prove the ability of these types of controller in balancing this model.
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