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LQR-Based Adaptive Control Strategy for the Planar Double Inverted Pendulum

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Electrical, Information Engineering and Mechatronics 2011

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 138))

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Abstract

In this paper, based on previous research results and the linear quadratic optimal theory, the improved LQR adaptive controller was designed that can optimize control effect using coordinated factor. The mathematical model of planar double inverted pendulum is established by means of analytical dynamics method, then the optimal controller is presented with LQR theory, and further the output of the LQR adaptive controller is refined through coordinator, which is the function of the states of planar pendulum, and on account of that, control action exerted on the pendulum is improved. Simulation results together with pilot scale experiment in the lab verify the efficacy of the suggested scheme, show that the controller designed to be simple, real-time is good, and can also ensure that the different operating conditions with high control precision, fast response, good stability and robustness.

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References

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Author information

Authors and Affiliations

  1. School of Electrical Engineering and Automatization, Henan Polytechnic University, Jiaozuo, 454000, China

    Jiaolong Zhang & Wei Zhang

Authors
  1. Jiaolong Zhang
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  2. Wei Zhang
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Corresponding author

Correspondence to Jiaolong Zhang .

Editor information

Editors and Affiliations

  1. , School of Electrical Engineering and, Henan Polytechnic University, Jiaozuo, China, People's Republic

    Xudong Wang

  2. , School of Electrical Engineering and, Henan Polytechnic University, Jiaozuo, China, People's Republic

    Fuzhong Wang

  3. , College of Elementary Education, Chongqing Normal University, Chongqing, China, People's Republic

    Shaobo Zhong

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© 2012 Springer-Verlag London Limited

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Cite this paper

Zhang, J., Zhang, W. (2012). LQR-Based Adaptive Control Strategy for the Planar Double Inverted Pendulum. In: Wang, X., Wang, F., Zhong, S. (eds) Electrical, Information Engineering and Mechatronics 2011. Lecture Notes in Electrical Engineering, vol 138. Springer, London. https://doi.org/10.1007/978-1-4471-2467-2_14

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  • DOI: https://doi.org/10.1007/978-1-4471-2467-2_14

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  • Publisher Name: Springer, London

  • Print ISBN: 978-1-4471-2466-5

  • Online ISBN: 978-1-4471-2467-2

  • eBook Packages: EngineeringEngineering (R0)

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