Title :
Tracking control of an inertial wheel pendulum by LQR regulation
Author :
Owczarkowski, Adam ; Lis, Marcin ; Kozierski, Piotr
Author_Institution :
Inst. of Control Inf. Eng., Poznan Univ. of Technol., Poznan, Poland
Abstract :
This article describes universal tracking control method. It is based on model linearization in every point of trajectory. Tested device is an inertial wheel pendulum (IWP). This is an underactuated nonlinear object - two degrees of freedom (angle from vertical and angle of rotation of electric motor) and one actuator (current). The linear quadratic regulator (LQR) and the model of the object are analytically considered. Many experiments are presented and confirm proper and stable operation of the system and some constraints.
Keywords :
linear quadratic control; linearisation techniques; nonlinear control systems; pendulums; IWP; LQR regulation; inertial wheel pendulum; linear quadratic regulation; model linearization; tracking control; underactuated nonlinear object; Conferences; Cost function; Educational institutions; Mathematical model; Regulators; Vectors; Wheels;
Conference_Titel :
Methods and Models in Automation and Robotics (MMAR), 2014 19th International Conference On
Conference_Location :
Miedzyzdroje
Print_ISBN :
978-1-4799-5082-9
DOI :
10.1109/MMAR.2014.6957384
