LQR Control for Double-Linked Rotary Inverted Pendulum: Simulation and Experiment
Double-linked rotary inverted pendulum is a developed structure of single-linked rotary inverted pendulum. Due to its high-order SIMO structure, it is a big challenge to operate this model on experiment. In this paper, we present an experimental double-linked rotary inverted pendulum that is constru...
| Main Authors: | , , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Editura Eftimie Murgu
2022-06-01
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| Series: | Robotica & Management |
| Subjects: | |
| Online Access: | https://rm.reviste.ubbcluj.ro/wp-content/uploads/2022/10/RM_2022_1_Pag_09_Huynh_XD.pdf |
| _version_ | 1797988020225310720 |
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| author | Xuan-Dung Huynh Van-Dong-Hai Nguyen Thi-Hong-Lam Le Thi-Thanh-Hoang Le Tu-Duc Nguyen Dung-Thien Nguyen Duy-Bao Hoang Minh-Hanh Pham |
| author_facet | Xuan-Dung Huynh Van-Dong-Hai Nguyen Thi-Hong-Lam Le Thi-Thanh-Hoang Le Tu-Duc Nguyen Dung-Thien Nguyen Duy-Bao Hoang Minh-Hanh Pham |
| author_sort | Xuan-Dung Huynh |
| collection | DOAJ |
| description | Double-linked rotary inverted pendulum is a developed structure of single-linked rotary inverted pendulum. Due to its high-order SIMO structure, it is a big challenge to operate this model on experiment. In this paper, we present an experimental double-linked rotary inverted pendulum that is constructed in our laboratory. A classical linear method – LQR – is used to control well this model in simulation. In experiment, we have stabilized this model for two seconds. Thence, our research contributes experimental results to confirm the ability of LQR for this kind of real model in stabilizing it in equilibrium point. |
| first_indexed | 2024-04-11T07:56:06Z |
| format | Article |
| id | doaj.art-ae402f7d08c34cdf8e83f7e3a1b2c52d |
| institution | Directory Open Access Journal |
| issn | 1453-2069 2359-9855 |
| language | English |
| last_indexed | 2024-04-11T07:56:06Z |
| publishDate | 2022-06-01 |
| publisher | Editura Eftimie Murgu |
| record_format | Article |
| series | Robotica & Management |
| spelling | doaj.art-ae402f7d08c34cdf8e83f7e3a1b2c52d2022-12-22T04:35:55ZengEditura Eftimie MurguRobotica & Management1453-20692359-98552022-06-01271913https://doi.org/10.24193/rm.2022.1.2LQR Control for Double-Linked Rotary Inverted Pendulum: Simulation and ExperimentXuan-Dung Huynh0 Van-Dong-Hai Nguyen1Thi-Hong-Lam Le2Thi-Thanh-Hoang Le3Tu-Duc Nguyen4Dung-Thien Nguyen5Duy-Bao Hoang6Minh-Hanh Pham7Cao Thang College Huynh Thuc Khang street, No. 65, Ho Chi Minh city, VietnamHo Chi Minh city University of Technology and Education (HCMUTE) Vo Van Ngan Sreet, No. 01, Ho Chi Minh city, VietnamHo Chi Minh city University of Technology and Education (HCMUTE) Vo Van Ngan Sreet, No. 01, Ho Chi Minh city, VietnamHo Chi Minh city University of Technology and Education (HCMUTE) Vo Van Ngan Sreet, No. 01, Ho Chi Minh city, VietnamHo Chi Minh city University of Technology and Education (HCMUTE) Vo Van Ngan Sreet, No. 01, Ho Chi Minh city, VietnamHo Chi Minh city University of Technology and Education (HCMUTE) Vo Van Ngan Sreet, No. 01, Ho Chi Minh city, VietnamHo Chi Minh city University of Technology and Education (HCMUTE) Vo Van Ngan Sreet, No. 01, Ho Chi Minh city, VietnamHo Chi Minh city University of Technology and Education (HCMUTE) Vo Van Ngan Sreet, No. 01, Ho Chi Minh city, VietnamDouble-linked rotary inverted pendulum is a developed structure of single-linked rotary inverted pendulum. Due to its high-order SIMO structure, it is a big challenge to operate this model on experiment. In this paper, we present an experimental double-linked rotary inverted pendulum that is constructed in our laboratory. A classical linear method – LQR – is used to control well this model in simulation. In experiment, we have stabilized this model for two seconds. Thence, our research contributes experimental results to confirm the ability of LQR for this kind of real model in stabilizing it in equilibrium point.https://rm.reviste.ubbcluj.ro/wp-content/uploads/2022/10/RM_2022_1_Pag_09_Huynh_XD.pdflqrdouble-linkedrotary inverted pendulumsimo structure |
| spellingShingle | Xuan-Dung Huynh Van-Dong-Hai Nguyen Thi-Hong-Lam Le Thi-Thanh-Hoang Le Tu-Duc Nguyen Dung-Thien Nguyen Duy-Bao Hoang Minh-Hanh Pham LQR Control for Double-Linked Rotary Inverted Pendulum: Simulation and Experiment Robotica & Management lqr double-linked rotary inverted pendulum simo structure |
| title | LQR Control for Double-Linked Rotary Inverted Pendulum: Simulation and Experiment |
| title_full | LQR Control for Double-Linked Rotary Inverted Pendulum: Simulation and Experiment |
| title_fullStr | LQR Control for Double-Linked Rotary Inverted Pendulum: Simulation and Experiment |
| title_full_unstemmed | LQR Control for Double-Linked Rotary Inverted Pendulum: Simulation and Experiment |
| title_short | LQR Control for Double-Linked Rotary Inverted Pendulum: Simulation and Experiment |
| title_sort | lqr control for double linked rotary inverted pendulum simulation and experiment |
| topic | lqr double-linked rotary inverted pendulum simo structure |
| url | https://rm.reviste.ubbcluj.ro/wp-content/uploads/2022/10/RM_2022_1_Pag_09_Huynh_XD.pdf |
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