Rotational Double Inverted Pendulum
نویسنده
چکیده
ROTATIONAL DOUBLE INVERTED PENDULUM Name: Li, Bo University of Dayton Advisor: Dr. Raúl Ordóñez The thesis deals with the stabilization control of the Rotational Double Inverted Pendulum (RDIP) System. The RDIP is an extremely nonlinear, unstable, underactuated system of high order. A mathematical model is built for the RDIP with the Euler-Lagrange (E-L) equation. A Linear Quadratic Regulator (LQR) controller is designed for this system and its stability analysis is presented in the Lyapunov method. We re-develop the Direct Adaptive Fuzzy Control (DAFC) method in our case for the purpose of exploring the possibility to improve the performance of the LQR control of the system. The simulation results of these two control schemes with their comparative analysis show that the DAFC is able to enhance the LQR controller by increasing its robustness in the RDIP control.
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