Tracking control of an inertial wheel pendulum by LQR regulation

Adam Owczarkowski; Marcin Lis; Piotr Kozierski

doi:10.1109/MMAR.2014.6957384

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Title

Tracking control of an inertial wheel pendulum by LQR regulation

Authors

Adam Owczarkowski (WE) ^{[ 1 ][ D ]}
Marcin Lis (WE) ^{[ 2 ][ D ]}
Piotr Kozierski (WE) ^{[ 1 ][ D ]}

^{[ 1 ]} Instytut Automatyki i Inżynierii Informatycznej, Wydział Elektryczny, Politechnika Poznańska | ^{[ 2 ]} Instytut Elektrotechniki i Elektroniki Przemysłowej, Wydział Elektryczny, Politechnika Poznańska | ^{[ D ]} phd student

Year of publication

2014

Chapter type

paper

Publication language

english

Abstract

EN 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.

Pages (from - to)

384 - 388

DOI

10.1109/MMAR.2014.6957384

URL

https://ieeexplore.ieee.org/document/6957384

Book

19th International Conference on Methods and Models in Automation and Robotics (MMAR 2014), Miedzyzdroje, 2-5 Sept. 2014

Presented on

19th International Conference on Methods and Models in Automation and Robotics, MMAR 2014, 2-5.09.2014, Międzyzdroje, Poland

Publication indexed in

WoS (15)

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