TY - GEN
T1 - FO based-LQR stabilization of the rotary inverted pendulum
AU - Rojas-Moreno, Arturo
AU - Hernandez-Garagatti, Juan
AU - Vega, Oscar Pacheco De La
AU - Lopez-Lozano, Luis
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/8/3
Y1 - 2016/8/3
N2 - This work implements a feedback control system for stabilizing the RIP (Rotary Inverted Pendulum) using a FO (Fractional Order) based-LQR (Linear Quadratic Regulator) controller. That is, every derivative term of a classical LQR control law containing the Laplace variable s will be transformed into its FO derivative form sm, where m isa fractional number between 0 and 1. Experimental results obtained with LQR and FO LQR-based controllers demonstrated that all designed control systems were able to stabilize the pendulum with and without the action of disturbances and in the presence of a larger pendulum Link mass. However, the application of a FO LQR-based controller improves the robustness of the control system. Such control systems use direct measurement of pendulum and motor shaft positions. For LQR controllers, speeds were obtained by differentiation of the corresponding positions and passed through first order filters to reject high frequency noise. It was not required to use any additional filter for the FO LQR-based controller.
AB - This work implements a feedback control system for stabilizing the RIP (Rotary Inverted Pendulum) using a FO (Fractional Order) based-LQR (Linear Quadratic Regulator) controller. That is, every derivative term of a classical LQR control law containing the Laplace variable s will be transformed into its FO derivative form sm, where m isa fractional number between 0 and 1. Experimental results obtained with LQR and FO LQR-based controllers demonstrated that all designed control systems were able to stabilize the pendulum with and without the action of disturbances and in the presence of a larger pendulum Link mass. However, the application of a FO LQR-based controller improves the robustness of the control system. Such control systems use direct measurement of pendulum and motor shaft positions. For LQR controllers, speeds were obtained by differentiation of the corresponding positions and passed through first order filters to reject high frequency noise. It was not required to use any additional filter for the FO LQR-based controller.
KW - FO Controller
KW - FO filter
KW - LQR Control
KW - Rotary Inverted Pendulum Stabilization
UR - https://www.scopus.com/pages/publications/84983752743
U2 - 10.1109/CCDC.2016.7531737
DO - 10.1109/CCDC.2016.7531737
M3 - Conference contribution
AN - SCOPUS:84983752743
T3 - Proceedings of the 28th Chinese Control and Decision Conference, CCDC 2016
SP - 4292
EP - 4297
BT - Proceedings of the 28th Chinese Control and Decision Conference, CCDC 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 28th Chinese Control and Decision Conference, CCDC 2016
Y2 - 28 May 2016 through 30 May 2016
ER -