A study of stabilization and swing-up linear control for a single link rotary pendulum
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Dosyalar
Tarih
2022
Yazarlar
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
IEEE-Institute of Electrical and Electronics Engineers Inc.
Erişim Hakkı
info:eu-repo/semantics/closedAccess
Özet
Single link rotary inverted pendulum (SLRIP) is a highly nonlinear control system that has complex dynamic behavior. This type of system requires a high-performance controller for its control. The rotary pendulum system is present as a control problem challenge because the system often moves to an uncontrolled state. The problem consists to balance one or more attached pendulums vertically in the upward position on a rotational arm which has a single degree of freedom and turns horizontally on only one axis. The aim is to find a control strategy that provides accurate performance with respect to the angles of the pendulums and the horizontal arm. This paper proposes a study of a PID, Linear Quadratic Regulator (LQR) stabilization control, and swing-up linear control based on LQR. The gains of the PID and LQR controllers are optimized by using the particle swarm optimization (PSO) algorithm to provide more robust controllers. A dynamic mechanical simulation study was conducted on MATLAB/SimMechanics obtained by the designed 3D-CAD models of the SLRIP. According to experimental results, the systems demonstrate the efficiency and robustness of all controllers.
Açıklama
5th International Conference on Theoretical and Applied Computer Science and Engineering (ICTASCE) -- September 29-October 01, 2022 -- Istanbul, Turkey
Anahtar Kelimeler
Single Link Rotary Inverted Pendulum (SLRIP), PID, LQR, Stabilization Control, Swing Up Control, PSO
Kaynak
5th International Conference on Theoretical and Applied Computer Science and Engineering (ICTASCE)
WoS Q Değeri
N/A
Scopus Q Değeri
N/A
