Details
| Original language | English |
|---|---|
| Pages | 1-6 |
| Number of pages | 6 |
| Publication status | Published - 14 Dec 2017 |
| Event | 2017 XVII Workshop on Information Processing and Control (RPIC) - Mar del Plata, Argentina, Mar del Plata, Argentina Duration: 20 Sept 2017 → 22 Sept 2017 |
Conference
| Conference | 2017 XVII Workshop on Information Processing and Control (RPIC) |
|---|---|
| Country/Territory | Argentina |
| City | Mar del Plata |
| Period | 20 Sept 2017 → 22 Sept 2017 |
Abstract
Balancing a rotary inverted pendulum (RIP) is commonly used for testing control algorithms, and the teaching of control chairs. Even when the researchers have proposed multiple model-based control designs over simulation environments, or based on previously identified RIP systems, the practical set-up of an experimental prototype has been commonly neglected because the difficulty that represents to identify a multi-variable, unstable, and highly non-linear system. This fact motivates the development of an experimental methodology to set-up a RIP system. For this, a mechanical model based on Euler-Lagrange is derived, where the inclusion of its actuator system is considered, which consists of a DC-motor model and a PD-low-level controller. Later, the proposed model is linearized over the non-stable equilibrium and the design of a balance control based on LQR is proposed. Finally, an experimental methodology to get the balance of an experimental RIP system based on input/output data is proposed, and its good performance is demonstrated with a RIP prototype.
Keywords
- lqr control, modeling and identification, rip prototype, rotary inverted pendulum
ASJC Scopus subject areas
- Computer Science(all)
- Computer Networks and Communications
- Computer Science(all)
- Signal Processing
- Mathematics(all)
- Control and Optimization
- Computer Science(all)
- Artificial Intelligence
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2017. 1-6 Paper presented at 2017 XVII Workshop on Information Processing and Control (RPIC), Mar del Plata, Argentina.
Research output: Contribution to conference › Paper › Research › peer review
}
TY - CONF
T1 - Optimal control for balancing a rotary inverted pendulum: An experimental setting
AU - Herrera, Daniel
AU - Monllor, Matias
AU - Carelli, Ricardo O.
AU - Carstensen, Jan Carsten
AU - Wagner, Bernardo
N1 - Publisher Copyright: © 2017 Comisión Permanente RPIC. Copyright: Copyright 2018 Elsevier B.V., All rights reserved.
PY - 2017/12/14
Y1 - 2017/12/14
N2 - Balancing a rotary inverted pendulum (RIP) is commonly used for testing control algorithms, and the teaching of control chairs. Even when the researchers have proposed multiple model-based control designs over simulation environments, or based on previously identified RIP systems, the practical set-up of an experimental prototype has been commonly neglected because the difficulty that represents to identify a multi-variable, unstable, and highly non-linear system. This fact motivates the development of an experimental methodology to set-up a RIP system. For this, a mechanical model based on Euler-Lagrange is derived, where the inclusion of its actuator system is considered, which consists of a DC-motor model and a PD-low-level controller. Later, the proposed model is linearized over the non-stable equilibrium and the design of a balance control based on LQR is proposed. Finally, an experimental methodology to get the balance of an experimental RIP system based on input/output data is proposed, and its good performance is demonstrated with a RIP prototype.
AB - Balancing a rotary inverted pendulum (RIP) is commonly used for testing control algorithms, and the teaching of control chairs. Even when the researchers have proposed multiple model-based control designs over simulation environments, or based on previously identified RIP systems, the practical set-up of an experimental prototype has been commonly neglected because the difficulty that represents to identify a multi-variable, unstable, and highly non-linear system. This fact motivates the development of an experimental methodology to set-up a RIP system. For this, a mechanical model based on Euler-Lagrange is derived, where the inclusion of its actuator system is considered, which consists of a DC-motor model and a PD-low-level controller. Later, the proposed model is linearized over the non-stable equilibrium and the design of a balance control based on LQR is proposed. Finally, an experimental methodology to get the balance of an experimental RIP system based on input/output data is proposed, and its good performance is demonstrated with a RIP prototype.
KW - lqr control
KW - modeling and identification
KW - rip prototype
KW - rotary inverted pendulum
UR - http://www.scopus.com/inward/record.url?scp=85046409139&partnerID=8YFLogxK
M3 - Paper
SP - 1
EP - 6
T2 - 2017 XVII Workshop on Information Processing and Control (RPIC)
Y2 - 20 September 2017 through 22 September 2017
ER -