Feedback Optimal Control for Inverted Pendulum Problem by Using the Generating Function Technique

被引：0

作者：

Dwidar, Hany R. ^{[1
]}

机构：

[1] Cairo Univ, Fac Sci, Astron Meteorol & Space Sci Dept, Giza 12613, Egypt

来源：

INTERNATIONAL JOURNAL OF ADVANCED COMPUTER SCIENCE AND APPLICATIONS | 2014年 / 5卷 / 11期

关键词：

Inverted pendulum; Feedback control; Stability analysis;

D O I：

暂无

中图分类号：

TP301 [理论、方法];

学科分类号：

081202 ;

摘要：

In this paper, a model is described for a system consisting of an inverted pendulum attached to a cart. We design for this model a feedback optimal control based on Linear Quadratic regulator, LQR by using the generating Function technique. This design with hard and soft constraints will help the pendulum to stabilize in the upright position. A solution of the continuous low-thrust optimal control problem based on LQR method is implemented. An example applied to this control design for a hard constraint boundary condition.

引用

页码：23 / 28

页数：6

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