Title :
Stabilization of a Wheeled Inverted Pendulum by a Continuous-Time Infinite-Horizon LQG Optimal Controller
Author :
Lupián, Luis F. ; Avila, Rodrigo
Author_Institution :
Mobile Robot. & Automated Syst. Lab., Univ. La Salle, Mexico City
Abstract :
An LQG control strategy is proposed and tested for a wheeled inverted pendulum robot. We show how a reduced set of sensors, as compared to other solutions that can be found in the literature, can be used to observe all state variables of interest for stabilization. A Kalman-Bucy estimator is used to estimate the unmeasured variables and to filter those that are directly measured. An LQR feedback strategy is then used to stabilize the upright equilibrium state. The resulting LQG controller is tested under simulation and the results are verified on an OpenGL virtual environment developed for this purpose.
Keywords :
continuous time systems; feedback; infinite horizon; linear quadratic Gaussian control; mobile robots; nonlinear control systems; pendulums; stability; Kalman-Bucy estimator; LQG optimal controller; LQR feedback strategy; OpenGL virtual environment; continuous-time infinite-horizon controller; equilibrium state; unmeasured variables; wheeled inverted pendulum robot; Filters; Mobile robots; Optimal control; Proposals; Robot sensing systems; State feedback; Testing; Torque control; Weight control; Wheels; Kalman-Bucy; LQG control; OpenGL; wheeled inverted pendulum;
Conference_Titel :
Robotic Symposium, 2008. LARS '08. IEEE Latin American
Conference_Location :
Natal, Rio Grande do Norte
Print_ISBN :
978-1-4244-3379-7
Electronic_ISBN :
978-0-7695-3536-4
DOI :
10.1109/LARS.2008.33