Experimental Validation of PID and LQR Control Techniques for Stabilization of Cart Inverted Pendulum System

2018 ◽  
Author(s):  
Sudarshan K. Valluru ◽  
Madhusudan Singh ◽  
Mayank Singh ◽  
Vanshaj Khattar
Keyword(s):  
Experimental Validation ◽  
Inverted Pendulum ◽  
Pendulum System ◽  
Control Techniques ◽  
Lqr Control ◽  
Inverted Pendulum System

PID and LQR Control for Two-Wheeled Vehicles with Hand Sensors

2014 ◽  
Vol 665 ◽  
pp. 619-622
Author(s):  
Dian Rong Li ◽  
Yih Guang Leu ◽  
Yan Hou Wen
Keyword(s):  
Inverted Pendulum ◽  
Pendulum System ◽  
Lqr Control ◽  
Inverted Pendulum System ◽  
Wheeled Vehicle ◽  
Control Signals ◽  
Left And Right ◽  
The Difference ◽  
Unstable Plant ◽  
Wheeled Vehicles

This paper studies the control of a two-wheeled vehicle which is similar to an inverted pendulum system and has hand sensors to make right and left turns. Because the two-wheeled vehicle is unstable and its load is uncertain, PID and LQR controllers are used to stabilize the uncertain and unstable plant. Moreover, the two controllers can make it move forwards and backwards, and turn left and right. The two controllers are implemented into a microcontroller, and the microcontroller outputs appropriate control signals to drive the two-wheeled vehicle according to the three-axis accelerometer and gyroscope sensors. Finally, we verify the controllers' efficiency and compare the difference between above two controllers.

Modelling and Simulation of Spherical Inverted Pendulum Based on LQR Control with SimMechanics

2013 ◽  
Vol 391 ◽  
pp. 163-167 ◽  
Author(s):  
M. Fajar ◽  
S.S. Douglas ◽  
J.B. Gomm
Keyword(s):  
Time Domain ◽  
Control Strategy ◽  
Inverted Pendulum ◽  
Multibody System ◽  
Equations Of Motion ◽  
Pendulum System ◽  
Lqr Control ◽  
Inverted Pendulum System ◽  
Lqr Controller ◽  
Feedback Method

This paper describes how to simulate the spherical inverted pendulum, a dynamics of multibody system, with SimMechanics. The control strategy used is based on the LQR feedback method for the stabilisation of the spherical inverted pendulum system. Simulation study has been done in Simulink environment shows that LQR controller is capable to control multi input and multi output of spherical inverted pendulum system successfully. The result shows that LQR control strategy gives satisfactory response that is presented in time domain with the details analysis. The use of SimMechanics for simulation of spherical inverted pendulum has some advantages i.e. not need to derive equations of motion, available visualisation tools, fast and easy design

Predictor-network-based MRACS for inverted pendulum system.

1991 ◽  
Vol 111 (3) ◽  
pp. 221-229 ◽  
Author(s):  
Motomiki Uchida ◽  
Yukihiro Toyoda ◽  
Yoshikuni Akiyama ◽  
Kazushi Nakano ◽  
Hideo Nakamura
Keyword(s):  
Inverted Pendulum ◽  
Pendulum System ◽  
Inverted Pendulum System

Optimal PID Design Approaches for an Inverted Pendulum System

2016 ◽  
Vol 9 (3) ◽  
pp. 167 ◽  
Author(s):  
Muhammad Sani Gaya ◽  
Anas Abubakar Bisu ◽  
Syed Najib Syed Salim ◽  
I. S. Madugu ◽  
L. A. Yusuf ◽  
...  
Keyword(s):  
Inverted Pendulum ◽  
Pendulum System ◽  
Inverted Pendulum System
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