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- Title
Real-Time Optimal Embedded Control of a Double Inverted Pendulum.
- Authors
Rios-Noreña, Luis A.; Velez-Ramirez, Juan S.; Giraldo, Eduardo
- Abstract
In this work, an under-actuated two degrees of freedom planar robot called pendubot is controlled by using a real-time embedded discrete linear quadratic regulator. The proposed approach is validated over a real prototype using a C2000 F28379d Delfino dual-core processor. Two scenarios are evaluated: the double inverted pendulum in a top position and the inverted pendulum in a middle position. The double inverted pendulum proposed control approach is compared with a state-of-the-art state feedback control strategy. The mean-square-error and integral-time-absolute-error are used to evaluate the controller's performance. As a result, the discrete linear-quadratic embedded real-time controller outperformed the state-of-the-art controllers.
- Subjects
INVERTED pendulum (Control theory); PENDULUMS; STATE feedback (Feedback control systems); MULTICORE processors; DEGREES of freedom
- Publication
IAENG International Journal of Computer Science, 2022, Vol 49, Issue 2, p341
- ISSN
1819-656X
- Publication type
Article