Estimation And Control Of A Double-Inverted Pendulum
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Date
May-18
Authors
Xu, Bowen
Lyu, You
Gadsden, Stephen Andrew
Journal Title
Journal ISSN
Volume Title
Publisher
CSME-SCGM
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.
Description
Keywords
Double inverted pendulum, Control system;, Kalman filter, Estimation, Mechatronics, Robots and Control