Estimation And Control Of A Double-Inverted Pendulum
| dc.contributor.author | Xu, Bowen | |
| dc.contributor.author | Lyu, You | |
| dc.contributor.author | Gadsden, Stephen Andrew | |
| dc.date.accessioned | 2018-11-06T14:23:45Z | |
| dc.date.available | 2018-11-06T14:23:45Z | |
| dc.date.issued | May-18 | |
| dc.description.abstract | This paper studies estimation and control methods applied on a double-inverted pendulum. The most popular estimation strategy, referred to as the Kalman filter (KF), was programmed and implemented on a double-inverted pendulum built by Quanser (Markham, Ontario). A linear quadratic regulator (LQR) was used to control the actuator joints of the double-inverted pendulum to keep it vertically balanced under different conditions. The application of the KF improved the tracking performance. The results of the paper are discussed, and future work is considered. | |
| dc.identifier | CSME177 | |
| dc.identifier.issn | 978-1-77355-023-7 | |
| dc.identifier.uri | http://hdl.handle.net/10315/35250 | |
| dc.identifier.uri | http://dx.doi.org/10.25071/10315/35250 | |
| dc.language.iso | en | en_US |
| dc.publisher | CSME-SCGM | en_US |
| dc.rights | The copyright for the paper content remains with the author. | |
| dc.subject | Double inverted pendulum | |
| dc.subject | Control system; | |
| dc.subject | Kalman filter | |
| dc.subject | Estimation | |
| dc.subject | Mechatronics | en_US |
| dc.subject | Robots and Control | en_US |
| dc.title | Estimation And Control Of A Double-Inverted Pendulum | en_US |
| dc.type | Article | en_US |