Title :
Rotary inverted pendulum with real time control
Author :
Barbosa, Daniel Ignacio ; Castillo, Juan Sebastián ; Combita, Luis Francisco
Author_Institution :
Univ. Distrital Francisco Jose de Caldas, Bogotá, Colombia
Abstract :
This investigation presents the construction of a Real-time rotary inverted pendulum system using MATLAB, the description of the materials and methods for the construction are presented. To estimate the non-measurable parameters of the system a method based on the non-linear model, a set of data and a nonlinear least squares algorithm is carried out, the implementation of an energy based swing-up controller and a LQR stabilization controller is used to show the performance of the system.
Keywords :
least squares approximations; linear quadratic control; nonlinear control systems; parameter estimation; pendulums; real-time systems; stability; LQR stabilization controller; MATLAB; nonlinear least squares algorithm; nonlinear model; nonmeasurable parameter estimation; real time control; real-time rotary inverted pendulum system; swing-up controller; system performance; Real-time control; energy swing-up; nonlinear least squares; rotary inverted pendulum;
Conference_Titel :
Robotics Symposium, 2011 IEEE IX Latin American and IEEE Colombian Conference on Automatic Control and Industry Applications (LARC)
Conference_Location :
Bogota
Print_ISBN :
978-1-4577-1689-8
DOI :
10.1109/LARC.2011.6086851
