Title :
The Design and Realization of a Rotary Inverted Pendulum Based on STM32
Author :
Gou Yuntao;Du Gang;Wang Ning;Zhang Dongxia
Author_Institution :
Sch. of Inf. Eng., China Univ. of Geosci., Beijing, China
Abstract :
In this paper, a single rotary inverted pendulum system is set up by using rotary encoder, servo motor and some mechanical structures. Lagrange equation is used to build up the mathematic model of single rotary inverted pendulum which is optimized by linear quadratic regulator (LQR) and fuzzy control method. Experiments are taken to verify this control strategy through Matlab simulation. The system is realized on STM32 development board.
Keywords :
"Mathematical model","Stability analysis","Kinetic energy","Process control","Potential energy","Optimal control","Fuzzy control"
Conference_Titel :
Identification, Information, and Knowledge in the Internet of Things (IIKI), 2015 International Conference on
DOI :
10.1109/IIKI.2015.46
