대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2003년도 하계학술대회 논문집 D
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- Pages.2170-2172
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- 2003
경사진 궤도에서 도립진자의 위치제어
Position Control of an Inverted Pendulum on an Inclined Railway
- Lee, Jun-Beom (School of Electronics Engineering, Ajou University) ;
- Choi, Ho-Joon (School of Electronics Engineering, Ajou University) ;
- Hong, Suk-Kyo (School of Electronics Engineering, Ajou University)
- 발행 : 2003.07.21
초록
This paper presents the position tracking control of an inverted pendulum on an inclined railway. In general, inclining the railway leads to errors in the pendulum angle even though the pendulum is stabilized, which results in errors in the cart position. To solve this problem, a linear quadratic regulation (LQR) controller with an integrator is used for compensating the resulting error in the cart position. The proposed method is evaluated by comparing LQR controllers with and without an integrator. Experimental results show that the LQR controller with an integrator is better in performance than one without an integrator.
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