Numerical and experimental investigation for swing-up control of an inverted pendulum using Arduino microcontroller
The Inverted Pendulum is a classic control problem, it has non-linear dynamics, is underactuated and is naturally unstable. Thus, developing a system capable of controlling it goes through challenges such as modeling, design requirements, and implementation of the control hardware. This work propose...
| Autores: | , , , |
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| Tipo de recurso: | artículo |
| Estado: | Versión publicada |
| Fecha de publicación: | 2024 |
| País: | Brasil |
| Institución: | Universidade Estadual Paulista (UNESP) |
| Repositorio: | Repositório Institucional da UNESP |
| Idioma: | inglés |
| OAI Identifier: | oai:repositorio.unesp.br:11449/303631 |
| Acceso en línea: | http://dx.doi.org/10.15282/jmes.18.2.2024.4.0791 https://hdl.handle.net/11449/303631 |
| Access Level: | acceso abierto |
| Palabra clave: | Inverted Pendulum Swing-up Energy-based LQR Microcontroller Arduino |
| Sumario: | The Inverted Pendulum is a classic control problem, it has non-linear dynamics, is underactuated and is naturally unstable. Thus, developing a system capable of controlling it goes through challenges such as modeling, design requirements, and implementation of the control hardware. This work proposes the swing -up of the linear inverted pendulum using the energy method with adjustable parameters, followed by a linear quadratic regulator controller stabilization. This work demonstrates how the system can be implemented using an Arduino microcontroller to acquire state variables and control commands. Furthermore, as a highlight, the implemented algorithm indicates a way to stabilize the sampling frequency, making the derivative process stable in the applied hardware and optimizing the control. The applied method was efficient in performing the swing -up, consistent with the simulations, and as effective as seen in the literature. |
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