Double Inverted Pendulum Based on LQG Optimal Control

DOI

10.2991/icacie-16.2016.20How to use a DOI?

Keywords

double inverted pendulum system, linear quadratic Gauss optimal control, state feedback, Kalmar filtering

Abstract

In order to achieve the stable control for a double inverted pendulum system, linear quadratic Gauss optimal control was applied. Based on separation principle of LQG, firstly, the control law was proposed by the optimal control, and then a state feedback was obtained; whereas, the states of a system can't be measured completely, and the system could be inevitably affected by the a number of noise. For this reason, based on the rule of value of the corresponding parameters, the optimal estimations of the system outputs were received by means of Kalmar filtering. The conclusive experiment shown that the designed controller steadily dominated a double inverted pendulum system, and the system had a good ability of noise abatement and anti-interference.

Copyright

© 2016, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Yi Zheng
AU  - Peisi Zhong
AU  - Qingchao Yue
PY  - 2016/10
DA  - 2016/10
TI  - Double Inverted Pendulum Based on LQG Optimal Control
BT  - Proceedings of the 2016 International Conference on Automatic Control and Information Engineering
PB  - Atlantis Press
SP  - 83
EP  - 87
SN  - 2352-5401
UR  - https://doi.org/10.2991/icacie-16.2016.20
DO  - 10.2991/icacie-16.2016.20
ID  - Zheng2016/10
ER  -