DocumentCode
2386592
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
fYear
2012
fDate
19-20 May 2012
Firstpage
462
Lastpage
464
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Systems and Informatics (ICSAI), 2012 International Conference on
Conference_Location
Yantai
Print_ISBN
978-1-4673-0198-5
Type
conf
DOI
10.1109/ICSAI.2012.6223036
Filename
6223036
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