Colombia | Article

LQR and SMC control applied to pendular platforms

dc.creatorArévalo-Castiblanco, Miguel F.
dc.creatorRodriguez-Garavito, C. H.
dc.creatorPatiño-Forero, Álvaro A.
dc.creatorSalazar-Cáceres, José F.
dc.date2018-01-01T08:00:00Z
dc.date.accessioned2022-10-13T13:37:14Z
dc.date.available2022-10-13T13:37:14Z
dc.identifierhttps://ciencia.lasalle.edu.co/scopus_unisalle/255
dc.identifier.urihttps://repositorioslatinoamericanos.uchile.cl/handle/2250/4157951
dc.descriptionA pendular platform is a robotic structure commonly used in the design of controllers given its nonlinear dynamics; This work presents the modeling, design and implementation of an optimal LQR controller and a Sliding Mode SMC controller applied to two commercial platforms, the Quanser rotary inverted pendulum (RotPen) and the Lego mobile inverted pendulum (NxtWay). The contribution of this work is to present a methodology of implementation of LQR and SMC controllers on pendular platforms, attending the respective restrictions of hardware and software in commercial prototypes. The article presents the behavior of the controller designed on the analytical model compared to its implementation.
dc.sourceRIAI - Revista Iberoamericana de Automatica e Informatica Industrial
dc.source374
dc.subjectEmbedeed systems
dc.subjectLQR
dc.subjectNxtWay segway model
dc.subjectOptimal control
dc.subjectQuanser inverted pendulum model
dc.subjectSliding mode control
dc.titleLQR and SMC control applied to pendular platforms
dc.typeArticle


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