倒立摆稳定与PID、LQ和MPC控制的比较

2018 Cybernetics & Informatics (K&I) Pub Date : 2018-01-01 DOI:10.1109/CYBERI.2018.8337540

Peter Bakaráč, Martin Klauco, M. Fikar

{"title":"倒立摆稳定与PID、LQ和MPC控制的比较","authors":"Peter Bakaráč, Martin Klauco, M. Fikar","doi":"10.1109/CYBERI.2018.8337540","DOIUrl":null,"url":null,"abstract":"This paper covers mathematical modeling of the inverted pendulum process and design of three types of controllers: PI, linear-quadratic (LQR), and model predictive controller (MPC). Since the dynamics of the inverted pendulum process is in range of milliseconds, the explicit version of MPC is applied. All three controllers are implemented and experimentally tested on a laboratory scale of the inverted pendulum device.","PeriodicalId":6534,"journal":{"name":"2018 Cybernetics & Informatics (K&I)","volume":"111 1","pages":"1-6"},"PeriodicalIF":0.0000,"publicationDate":"2018-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"14","resultStr":"{\"title\":\"Comparison of inverted pendulum stabilization with PID, LQ, and MPC control\",\"authors\":\"Peter Bakaráč, Martin Klauco, M. Fikar\",\"doi\":\"10.1109/CYBERI.2018.8337540\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper covers mathematical modeling of the inverted pendulum process and design of three types of controllers: PI, linear-quadratic (LQR), and model predictive controller (MPC). Since the dynamics of the inverted pendulum process is in range of milliseconds, the explicit version of MPC is applied. All three controllers are implemented and experimentally tested on a laboratory scale of the inverted pendulum device.\",\"PeriodicalId\":6534,\"journal\":{\"name\":\"2018 Cybernetics & Informatics (K&I)\",\"volume\":\"111 1\",\"pages\":\"1-6\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2018-01-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"14\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2018 Cybernetics & Informatics (K&I)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/CYBERI.2018.8337540\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2018 Cybernetics & Informatics (K&I)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CYBERI.2018.8337540","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 14

摘要

本文介绍了倒立摆过程的数学建模，并设计了三种类型的控制器:PI，线性二次(LQR)和模型预测控制器(MPC)。由于倒立摆过程的动力学在毫秒范围内，因此应用了显式MPC版本。三种控制器均在倒立摆装置的实验室规模上实现并进行了实验测试。

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

Comparison of inverted pendulum stabilization with PID, LQ, and MPC control

This paper covers mathematical modeling of the inverted pendulum process and design of three types of controllers: PI, linear-quadratic (LQR), and model predictive controller (MPC). Since the dynamics of the inverted pendulum process is in range of milliseconds, the explicit version of MPC is applied. All three controllers are implemented and experimentally tested on a laboratory scale of the inverted pendulum device.

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

2018 Cybernetics & Informatics (K&I)

自引率

0.00%

发文量