Trajectory Tracking Simulation of the Planar Inverted Pendulum Based on LQR

摘要：

　　This paper establishes the nonlinear model of the planar inverted pendulum system by using Lagrange equation,then decouples the model around the systems equilibrium position with Taylor series expansion,gets the same linear model in the direction of X and Y.According to the linear optimal control theory,designs a LQR controller,its base cart positioning prior to the pendulum stabilization.Finally,realizes the simulation of positioning,circular and shape of infinity trajectories tracking control of the base cart,while keeping the pendulum stable.The experiments show that,the controller is simple,and in different forms of motion with good stability,high control precision,validates the effectiveness of the algorithm.

关键词： Planar Inverted Pendulum LQR Controller Trajectory Tracking Simulation

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 Fifth International Conference on Instrumentation and Measurement,Computer,Communication and Control (IMCCC2015)(第五届仪器测量、计算机通信与控制国际会议)

会议地点: 秦皇岛

会议语种:英文

页码: 697-701

在线出版日期: 2015-09-18（万方平台首次上网日期，不代表论文的发表时间）