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Optimal Control Comparisons on a Flywheel Based Inverted Pendulum

مجله مهندسی مکانیک و صنایع مپتا، دوره: 3، شماره: 1
Year: 1398
COI: JR_MJMIE-3-1_002
Language: PersianView: 51
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Ahmad Samiee - Mechanical Engineering Department, Azad University Science and Research Branch, Tehran, Iran


This paper introduces a comparison between two optimal controllers on aflywheel-based inverted pendulum. Inverted pendulums have an essentialplace in developing under-actuation nonlinear control schemes due to theirnonlinear structure. This system is a basic structure for many advancedsystems such as biped and mobile wheeled robots. Optimal controllersaddressed in this paper consist of State-Dependent Riccati Equation (SDRE)and Linear Quadratic Regulator (LQR). A Proportional–Integral–Derivativecontroller (PID) is also designed and tested in the simulation. One axis selfbalancingflywheel based inverted pendulum system is designed to validate thecontrollers' performance on an experimental setup.


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Type of center: Azad University
Paper count: 37,309
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