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

LQR Control for Experimental Double Rotary Inverted Pendulum

Tran, Nhat-Cuong (Unknown)
Nguyen, Van-Dong-Hai (Unknown)
Le, Chi-Thanh (Unknown)
Lai, Anh-Hai (Unknown)
Nguyen, Trong-Phung (Unknown)
Huynh, Minh-Tuan (Unknown)
Phan, Viet-Thanh (Unknown)
Tong, Gia-Dat (Unknown)
Nguyen, Le-Thanh-Dat (Unknown)
Ngo, Trinh-Anh-Tuan (Unknown)

Article Info

Publish Date
30 May 2024

Abstract

LQR control and rotary inverted pendulum (RIP) are already a classic and typical category in the field of automatic control algorithms. From the experience of a 1-order system, we study and apply the LQR algorithm to the 2-step system (DRIP – Double Rotary Inverted Pendulum). In this study, the authors will present kinematic equations of the DRIP system, the method of building an LQR controller for the system in the balance position of bar 1 upwards bar 2 downwards (the first pendulum balances at 0, the second pendulum balances at 180) and build a practical model to investigate the stability of the system. Our method is proven to balance one link well and anti-fluctuation another link well for this model through both simulation and experiment.

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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 ...