LQR Control for Experimental Double Rotary Inverted Pendulum

Authors

  • Nhat-Cuong Tran Ho Chi Minh City University of Technology and Education
  • Van-Dong-Hai Nguyen Ho Chi Minh City University of Technology and Education
  • Chi-Thanh Le Ho Chi Minh City University of Technology and Education
  • Anh-Hai Lai Ho Chi Minh City University of Technology and Education
  • Trong-Phung Nguyen Ho Chi Minh City University of Technology and Education
  • Minh-Tuan Huynh Ho Chi Minh City University of Technology and Education
  • Viet-Thanh Phan Ho Chi Minh City University of Technology and Education
  • Gia-Dat Tong Ho Chi Minh City University of Technology and Education
  • Le-Thanh-Dat Nguyen Ho Chi Minh City University of Technology and Education
  • Trinh-Anh-Tuan Ngo Ho Chi Minh City University of Technology and Education

DOI:

https://doi.org/10.59247/jfsc.v2i2.212

Keywords:

LQR Control, Double Rotary Inverted Pendulum, Ant-Fluctuation Control

Abstract

LQR control and rotary inverted pendulum (RIP) are already a classic and typical category in the field of automatic control algorithms. From the experience of a 1-order system, we study and apply the LQR algorithm to the 2-step system (DRIP – Double Rotary Inverted Pendulum). In this study, the authors will present kinematic equations of the DRIP system, the method of building an LQR controller for the system in the balance position of bar 1 upwards bar 2 downwards (the first pendulum balances at 0, the second pendulum balances at 180) and build a practical model to investigate the stability of the system. Our method is proven to balance one link well and anti-fluctuation another link well for this model through both simulation and experiment.

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Published

2024-05-30

How to Cite

[1]
N.-C. Tran, “LQR Control for Experimental Double Rotary Inverted Pendulum”, JFSC, vol. 2, no. 2, pp. 104–108, May 2024.

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Vol. 2 No. 2 (2024)

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Articles

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Copyright (c) 2024 Nhat-Cuong Tran, Van-Dong-Hai Nguyen, Chi-Thanh Le, Anh-Hai Lai, Trong-Phung Nguyen, Minh-Tuan Huynh, Viet-Thanh Phan, Gia-Dat Tong, Le-Thanh-Dat Nguyen, Trinh-Anh-Tuan Ngo

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