Publication Type : Conference Paper
Source : Advances in Intelligent Systems and Computing
Url : https://link.springer.com/chapter/10.1007/978-981-10-1708-7_68
Campus : Coimbatore
School : School of Artificial Intelligence
Year : 2016
Abstract : The two-link inverted pendulum on cart (TLIPOC) is a widely known system having underactuation property. TLIPOC is a highly unstable and nonlinear system. The modelling of TLIPOC is obtained using Euler–Lagrangian approach. In this paper use of optimal control minimizing a quadratic cost functional is discussed. The aim of the paper is to stabilize the TLIPOC using linear quadratic regulator (LQR) technique. MATLAB simulations are used to show the efficiency and feasibility of proposed approach.
Cite this Research Publication : Akash Gupta, Varnita Verma, Adesh Kumar, Paawan Sharma, Gupta, M.K., Meera, C.S. (2017). Stabilization of Underactuated Mechanical System Using LQR Technique. In: Singh, R., Choudhury, S. (eds) Proceeding of International Conference on Intelligent Communication, Control and Devices . Advances in Intelligent Systems and Computing, vol 479. Springer, Singapore. https://doi.org/10.1007/978-981-10-1708-7_68