Guogang Gao1, Lei Xu1, Tianpeng Huang2,*, Xuliang Zhao1, Lihua Huang1
CMES-Computer Modeling in Engineering & Sciences, Vol.140, No.1, pp. 305-323, 2024, DOI:10.32604/cmes.2024.047899
Abstract The Rotary Inverted Pendulum (RIP) is a widely used underactuated mechanical system in various applications such as bipedal robots and skyscraper stabilization where attitude control presents a significant challenge. Despite the implementation of various control strategies to maintain equilibrium, optimally tuning control gains to effectively mitigate uncertain nonlinearities in system dynamics remains elusive. Existing methods frequently rely on extensive experimental data or the designer’s expertise, presenting a notable drawback. This paper proposes a novel tracking control approach for RIP, utilizing a Linear Quadratic Regulator (LQR) in combination with a reduced-order observer. Initially, the RIP system is mathematically modeled using the… More >
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