A Novel Parallel-Type Double Inverted Pendulum Control Method

摘要：

Car inverted pendulum system is often used as the benchmark for verifying the performance and effectiveness of a new control method. However, its very unusual to use parallel-type double inverted pendulum. Based on Lagrange equation, this paper presents a novel state space model for the paralleltype double inverted pendulum system. Also, the paper designs a linear quadratic regulator (LQR) controller with the Lagrange modeling method. Simulation results are presented to demonstrate the feasibility and performance of the proposed model and controller.

关键词： Lagrange equation Parallel-type double inverted pendulum Linear quadratic regulator (LQR)

作者: XING Lixin CHEN Yunfei WU Xiaoyun

作者单位: New Star Institute of Applied Technology Hetei, Anhui.230031, P.R.China New Star Institute of Applied Technology Hefei, Anhui, 230031, P.R.China New Star Institute of Applied Technology Hefei.Anhui.230031, P.R.China

会议类型: 国际会议

会议名称: 2010 IEEE International Conference on Intelligent Computing and Intelligent Systems(2010 IEEE 智能计算与智能系统国际会议 ICIS 2010)

会议地点: 厦门

会议语种:英文

页码: 880-887

在线出版日期: 2010-10-29（万方平台首次上网日期，不代表论文的发表时间）