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Pham, Duong-Minh-Quang
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Control & Systems Engineering Electrical & Electronics Engineering Energy Engineering

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Journal : Journal of Fuzzy Systems and Control (JFSC)

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Trajectory Tracking using LQR Control for Pendubot: Simulation and Experiment Tran, Trong-Bang; Nguyen, Hoang-Thien; Nguyen, Tay; Dang, Duc-Dat; Pham, Duong-Minh-Quang; Le, Nhat-Duy; Huynh, Hoang-Khuong; Phan, Thanh-Quoc-Du; Nguyen, Bao-Huy; Nguyen, Ngo-Huu-Tung; Pham, Le-Quoc-Toan; Nguyen, Trung-Hieu; Dang, Quang-Vinh
Journal of Fuzzy Systems and Control Vol. 2 No. 1 (2024): Vol. 2, No. 1, 2024
Publisher : Peneliti Teknologi Teknik Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59247/jfsc.v2i1.163

Abstract

Pendubot, a unique single-input-multiple-output (SIMO) system, is commonly employed in laboratories to validate control algorithms. In this article, we develop an LQR controller to simulate and assess its effectiveness on this model. Specifically targeting the TOP position for control, we not only verify the controller's quality but also ensure the motion system accurately tracks a predefined trajectory, encompassing sine and square pulses. Control parameters are meticulously chosen through a genetic algorithm (GA). Although LQR is not highly rated for trajectory tracking due to its relatively small operational range, our successful simulations and control of this system are attributed to the assistance of GA
Co-Authors Dang, Duc-Dat Dang, Quang-Vinh Huynh, Hoang-Khuong Le, Nhat-Duy Nguyen, Bao-Huy Nguyen, Hoang-Thien Nguyen, Ngo-Huu-Tung Nguyen, Tay Nguyen, Trung-Hieu Pham, Le-Quoc-Toan Phan, Thanh-Quoc-Du Tran, Trong-Bang