Journal of Fuzzy Systems and Control (JFSC)
Vol. 2 No. 1 (2024): Vol. 2, No. 1, 2024

Trajectory Tracking using LQR Control for Pendubot: Simulation and Experiment

Tran, Trong-Bang (Unknown)
Nguyen, Hoang-Thien (Unknown)
Nguyen, Tay (Unknown)
Dang, Duc-Dat (Unknown)
Pham, Duong-Minh-Quang (Unknown)
Le, Nhat-Duy (Unknown)
Huynh, Hoang-Khuong (Unknown)
Phan, Thanh-Quoc-Du (Unknown)
Nguyen, Bao-Huy (Unknown)
Nguyen, Ngo-Huu-Tung (Unknown)
Pham, Le-Quoc-Toan (Unknown)
Nguyen, Trung-Hieu (Unknown)
Dang, Quang-Vinh (Unknown)

Article Info

Publish Date
01 Mar 2024

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

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Journal Info
Journal of Fuzzy Systems and Control (JFSC)
Website

Abbrev

jfsc

Publisher

Peneliti Teknologi Teknik Indonesia

Subject

Control & Systems Engineering Electrical & Electronics Engineering Energy Engineering

Description

Journal of Fuzzy Systems and Control is an international peer review journal that published papers about Fuzzy Logic and Control Systems. The Journal of Fuzzy Systems and Control should encompass original research articles, review articles, and case studies that contribute to the advancement of the ...