Open AccessDesign of control laws for rotary inverted pendulum based on LQR and Lyapunov function
Author(s) -
C. X. Nguyen,
TH Tran,
Th X. Pham,
Kien Minh Le
Publication year - 2021
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/1029/1/012021
Subject(s) - inverted pendulum , control theory (sociology) , lyapunov function , linear quadratic regulator , control lyapunov function , lyapunov redesign , nonlinear system , function (biology) , mathematics , pendulum , computer science , optimal control , control (management) , mathematical optimization , engineering , physics , mechanical engineering , quantum mechanics , artificial intelligence , evolutionary biology , biology
In this paper, a new technique for synthesizing control laws of stabilizing rotary inverted pendulum is proposed. The key of the proposed method is combination of linear quadratic regulator (LQR) method and Lyapunov function such that the control system can achieve higher performance. The Lyapunov function-based methods guarantee the globally approximate stability; however, they face to the difficulty of constructing an effective Lyapunov function. On the other hand, the LQR-based methods have been shown the ability to achieve high performance only if the control system has a weak nonlinearity and/or operate around equilibrium point. Combining them may partially deal with their limitations. The effectiveness of the proposed method is examined by experiments on the rotary inverted pendulum and compared with the LQR method. The results show that the proposed method has achieved a better performance.