Sub-Optimal Stabilizers of the Pendubot Using Various State Space Representations
[ 1 ] Instytut Automatyki i Robotyki, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ 2 ] Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ P ] employee | [ SzD ] doctoral school student
[2.2] Automation, electronics, electrical engineering and space technology
2022
scientific article
english
- nonlinear systems
- underactuated systems
- Pendubot
- model transformation
- quasi-velocities
- stabilization methods
- linear quadratic regulator (LQR)
- experiment
EN This paper considers the issue of linear-quadratic regulator (LQR) design for nonlinear systems with the use of smooth state and input transformations. The proposed design methodology is considered in the stabilisation task of the Pendubot, which is based on the concept of feedback equivalent control systems. It turns out that it is possible to find a controller that ensures comparable dynamics of the closed-loop system in the vicinity of the set point regardless of the state-space representation adopted. In addition, the synthesis of suboptimal controllers according to the LQR strategy ensuring equal dynamics at the equilibrium point is presented. The properties of the studied controllers were investigated in a simulation environment and using experimental tests. The detailed forms of transformations and linear approximations given can be regarded as ready-made procedures that can be applied to stabilise similar mechanical systems in robotics.
15.07.2022
5146-1 - 5146-23
Article Number: 5146
CC BY (attribution alone)
open journal
final published version
at the time of publication
140
3,2