Optimal design of an LQG controller for an inverted pendulum mechanical system
The objective of this work was to design a linear quadratic controller for a system with an inverted pendulum in a mobile robot. Quantitative type research is described, with a non-experimental descriptive transectional study design. With the support of a documentary investigation. For the operation...
| Autores: | , , , |
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| Tipo de recurso: | artículo |
| Estado: | Versión publicada |
| Fecha de publicación: | 2022 |
| País: | Brasil |
| Institución: | Sapienza Grupo Editorial |
| Repositorio: | Sapienza (Curitiba) |
| Idioma: | español |
| OAI Identifier: | oai:ojs2.journals.sapienzaeditorial.com:article/536 |
| Acceso en línea: | https://journals.sapienzaeditorial.com/index.php/SIJIS/article/view/536 |
| Access Level: | acceso abierto |
| Palabra clave: | Pêndulo invertido, equações de Lagrange, controle quadrático linear LQR, filtro de Kalman e controle quadrático gaussiano LQG Inverted pendulum, Lagrange equations, LQR linear quadratic control, Kalman filter and LQG Gaussian quadratic control Péndulo invertido, ecuaciones de Lagrange, control cuadrático lineal LQR, filtro Kalman y control cuadrático gaussiano LQG |
| Sumario: | The objective of this work was to design a linear quadratic controller for a system with an inverted pendulum in a mobile robot. Quantitative type research is described, with a non-experimental descriptive transectional study design. With the support of a documentary investigation. For the operational development of this research, a simulation study was carried out in the MATLAB Simulink environment. The results obtained show that both LQR and LQG are able to control the success of this system completely. It is concluded that by proper manipulation of the state/control weights and the noise covariance matrices, both LQR and LQG will give a satisfactory result. |
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