Trajectory Tracking Control of the Planar Inverted Pendulum

摘要：

　　This paper analyzed the physical structure of the planar inverted pendulum system,established the nonlinear dynamic model of the system with Lagrange equation.The same linear model and state-space expression in each direction is obtained,by decoupling the nonlinear model around the systems equilibrium position.On the basis of the linear optimal control theory,designs LQR controller,which the base cart positioning prior to the pendulum stabilization.Realizes the positioning,circular and infinity shape trajectories tracking control of the base cart,while ensuring the pendulum is inverted and stable.Real-time experiments show that the controller is simple and has good real-time performance.Under the different motion conditions,has high control accuracy,fast response speed,good robustness,validates the effectiveness of the algorithm.

关键词： Planar Inverted Pendulum LQR Controller Trajectory Tracking

作者: Shu-Juan MOU Feng LIU

作者单位: Computer and Information Science College Southwest University Chongqing, China

会议类型: 国际会议

会议名称: 2015 IEEE Advanced Information Technology, Electronic and Automation Control Conference(IAEAC 2015)(2015 IEEE先进信息技术,电子与自动化控制国际会议)

会议地点: 重庆

会议语种:英文

页码: 364-368

在线出版日期: 2015-12-19（万方平台首次上网日期，不代表论文的发表时间）