Second-order Self-balancing Inverted Pendulum
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- Xiao Ziyue
- Tianjin University of Science and Technology
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- Chang Zhencheng
- Tianjin University of Science and Technology
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- Li Mingxuan
- Tianjin University of Science and Technology
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- Huang Yumei
- Tianjin University of Science and Technology
説明
The team utilizes the second-order inverted pendulum cart based on LQR controller for steady pendulum control with light rods. First, the second-order inverted pendulum is used as a research object to obtain its set of dynamical equations, then, the set of dynamical equations is written in the form of state-space expressions, and finally, the second-order inverted pendulum system of a balanced trolley with a light rod is controlled by a stabilized pendulum using the LQR controller. The inverted pendulum is a typical nonlinear, underdriven and unstable system, which can realize the all-round wind resistance of the rod and occupy less space with high stability.
収録刊行物
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- 人工生命とロボットに関する国際会議予稿集
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人工生命とロボットに関する国際会議予稿集 29 143-146, 2024-02-22
株式会社ALife Robotics
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詳細情報 詳細情報について
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- CRID
- 1390018506585220608
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- ISSN
- 21887829
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- 本文言語コード
- en
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- データソース種別
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- JaLC
- Crossref
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- 抄録ライセンスフラグ
- 使用不可
