Title :
SimMechanics model and LQR control for linear double inversed pendulum based on kalman filter
Author :
Tang, Le ; Zhang, Lei ; Ru, Feifei
Author_Institution :
Dept. of Phys. & Electron., Henan Univ., Kaifeng, China
Abstract :
On the basis of the physical model of linear double inversed pendulum, firstly, this paper establishes nonlinear model of it with SimMechanics toolbox of Matlab, and combined with LQR optimal control method based on Kalman filter to design the controller and state observer, finally, inhibit existing system noises and observation noises effectively, In addition, it realizes stability control of the linear double inversed pendulum.
Keywords :
Kalman filters; control system synthesis; linear quadratic control; nonlinear control systems; observers; pendulums; stability; Kalman filter; LQR control; LQR optimal control; Matlab; SimMechanics model; SimMechanics toolbox; controller design; linear double inversed pendulum; nonlinear model; observation noises; physical model; stability control; state observer; system noises; Kalman filters; Mathematical model; Noise; Observers; Optimal control; Stability analysis; LQR; SimMechanics modeling; kalman filter; linear double inversed pendulum;
Conference_Titel :
Systems and Informatics (ICSAI), 2012 International Conference on
Conference_Location :
Yantai
Print_ISBN :
978-1-4673-0198-5
DOI :
10.1109/ICSAI.2012.6223036
