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http://dx.doi.org/10.21289/KSIC.2020.23.1.49

LQ control by linear model of Inverted Pendulum Robot for Robust Human Tracking  

Jin, Taeseok (Mechatronics engineering at Dongseo University)
Publication Information
Journal of the Korean Society of Industry Convergence / v.23, no.1, 2020 , pp. 49-55 More about this Journal
Abstract
This paper presents the system modeling, analysis, and controller design and implementation with a inverted pendulum system in order to test Linear Quadratic control based robust algorithm for inverted pendulum robot. The balancing of an inverted pendulum robot by moving pendulum robot like as 'segway' along a horizontal track is a classic problem in the area of control. This paper will describe two methods to swing a pendulum attached to a cart from an initial downwards position to an upright position and maintain that state. The results of real experiment show that the proposed control system has superior performance for following a reference command at certain initial conditions.
Keywords
People tracking; laser range scanner; Kalman filter; mobile robot;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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