Optimal design of an LQG controller for an inverted pendulum mechanical system

Detalhes bibliográficos
Autor(a) principal: Erazo-Velasco, Ismael Elías
Data de Publicação: 2022
Outros Autores: Bautista-Sánchez, José Vicencio, Rodríguez-Jijón, Roberto Iván, González-Quiñonez, Luis Adrián
Tipo de documento: Artigo
Idioma: spa
Título da fonte: Sapienza (Curitiba)
Texto Completo: https://journals.sapienzaeditorial.com/index.php/SIJIS/article/view/536
Resumo: The objective of this work was to design a linear quadratic controller for a system with an inverted pendulum in a mobile robot. Quantitative type research is described, with a non-experimental descriptive transectional study design. With the support of a documentary investigation. For the operational development of this research, a simulation study was carried out in the MATLAB Simulink environment. The results obtained show that both LQR and LQG are able to control the success of this system completely. It is concluded that by proper manipulation of the state/control weights and the noise covariance matrices, both LQR and LQG will give a satisfactory result.
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spelling Optimal design of an LQG controller for an inverted pendulum mechanical systemDiseño óptimo de un controlador LQG para un sistema mecánico de un péndulo invertidoProjeto ótimo de um controlador LQG para um sistema mecânico de pêndulo invertidoPêndulo invertido, equações de Lagrange, controle quadrático linear LQR, filtro de Kalman e controle quadrático gaussiano LQGInverted pendulum, Lagrange equations, LQR linear quadratic control, Kalman filter and LQG Gaussian quadratic controlPéndulo invertido, ecuaciones de Lagrange, control cuadrático lineal LQR, filtro Kalman y control cuadrático gaussiano LQGThe objective of this work was to design a linear quadratic controller for a system with an inverted pendulum in a mobile robot. Quantitative type research is described, with a non-experimental descriptive transectional study design. With the support of a documentary investigation. For the operational development of this research, a simulation study was carried out in the MATLAB Simulink environment. The results obtained show that both LQR and LQG are able to control the success of this system completely. It is concluded that by proper manipulation of the state/control weights and the noise covariance matrices, both LQR and LQG will give a satisfactory result.El objetivo de este trabajo consistió diseñar un controlador cuadrático lineal para un sistema con un péndulo invertido en un robot móvil. Se describe la investigación de tipo cuantitativa, con diseño de un estudio no experimental de tipo transeccional descriptivo. Con apoyo de una indagación documental. Para el desarrollo operativo de esta investigación, se realizó un estudio de simulación en el entorno MATLAB/Simulink. Los resultados obtenidos muestran que tanto LQR como LQG son capaces de controlar el éxito de este sistema completamente. Se concluye que mediante la manipulación adecuada de las ponderaciones de estado/control y las matrices de covarianza de ruido, tanto LQR como LQG darán un resultado satisfactorio.O objetivo deste trabalho foi projetar um controlador quadrático linear para um sistema com pêndulo invertido em um robô móvel. Descreve-se uma pesquisa do tipo quantitativo, com um desenho de estudo transversal descritivo não experimental. Com o apoio de uma investigação documental. Para o desenvolvimento operacional desta pesquisa, foi realizado um estudo de simulação no ambiente MATLAB Simulink. Os resultados obtidos mostram que tanto o LQR quanto o LQG são capazes de controlar completamente o sucesso deste sistema. Conclui-se que pela manipulação adequada dos pesos de estado/controle e das matrizes de covariância de ruído, tanto LQR quanto LQG darão um resultado satisfatório.Sapienza Grupo Editorial2022-10-30info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionapplication/pdfhttps://journals.sapienzaeditorial.com/index.php/SIJIS/article/view/53610.51798/sijis.v3i7.536Sapienza: International Journal of Interdisciplinary Studies; Vol. 3 No. 7 (2022): Theoretical and methodological plurality; 215-227Sapienza: International Journal of Interdisciplinary Studies; Vol. 3 Núm. 7 (2022): Pluralidad teórica y metodológica; 215-227Sapienza: International Journal of Interdisciplinary Studies; v. 3 n. 7 (2022): Pluralidade teórica e metodológica; 215-2272675-978010.51798/sijis.v3i7reponame:Sapienza (Curitiba)instname:Sapienza Grupo Editorialinstacron:SAPIENZAspahttps://journals.sapienzaeditorial.com/index.php/SIJIS/article/view/536/369Copyright (c) 2022 Ismael Elías Erazo-Velasco, José Vicencio Bautista-Sánchez, Roberto Iván Rodríguez-Jijón, Luis Adrián González-Quiñonezhttps://creativecommons.org/licenses/by-nc-nd/4.0info:eu-repo/semantics/openAccessErazo-Velasco, Ismael Elías Bautista-Sánchez, José Vicencio Rodríguez-Jijón, Roberto Iván González-Quiñonez, Luis Adrián 2022-11-24T04:17:05Zoai:ojs2.journals.sapienzaeditorial.com:article/536Revistahttps://journals.sapienzaeditorial.com/index.php/SIJISPRIhttps://journals.sapienzaeditorial.com/index.php/SIJIS/oaieditor@sapienzaeditorial.com2675-97802675-9780opendoar:2023-01-12T16:43:03.925348Sapienza (Curitiba) - Sapienza Grupo Editorialfalse
dc.title.none.fl_str_mv Optimal design of an LQG controller for an inverted pendulum mechanical system
Diseño óptimo de un controlador LQG para un sistema mecánico de un péndulo invertido
Projeto ótimo de um controlador LQG para um sistema mecânico de pêndulo invertido
title Optimal design of an LQG controller for an inverted pendulum mechanical system
spellingShingle Optimal design of an LQG controller for an inverted pendulum mechanical system
Erazo-Velasco, Ismael Elías
Pêndulo invertido, equações de Lagrange, controle quadrático linear LQR, filtro de Kalman e controle quadrático gaussiano LQG
Inverted pendulum, Lagrange equations, LQR linear quadratic control, Kalman filter and LQG Gaussian quadratic control
Péndulo invertido, ecuaciones de Lagrange, control cuadrático lineal LQR, filtro Kalman y control cuadrático gaussiano LQG
title_short Optimal design of an LQG controller for an inverted pendulum mechanical system
title_full Optimal design of an LQG controller for an inverted pendulum mechanical system
title_fullStr Optimal design of an LQG controller for an inverted pendulum mechanical system
title_full_unstemmed Optimal design of an LQG controller for an inverted pendulum mechanical system
title_sort Optimal design of an LQG controller for an inverted pendulum mechanical system
author Erazo-Velasco, Ismael Elías
author_facet Erazo-Velasco, Ismael Elías
Bautista-Sánchez, José Vicencio
Rodríguez-Jijón, Roberto Iván
González-Quiñonez, Luis Adrián
author_role author
author2 Bautista-Sánchez, José Vicencio
Rodríguez-Jijón, Roberto Iván
González-Quiñonez, Luis Adrián
author2_role author
author
author
dc.contributor.author.fl_str_mv Erazo-Velasco, Ismael Elías
Bautista-Sánchez, José Vicencio
Rodríguez-Jijón, Roberto Iván
González-Quiñonez, Luis Adrián
dc.subject.por.fl_str_mv Pêndulo invertido, equações de Lagrange, controle quadrático linear LQR, filtro de Kalman e controle quadrático gaussiano LQG
Inverted pendulum, Lagrange equations, LQR linear quadratic control, Kalman filter and LQG Gaussian quadratic control
Péndulo invertido, ecuaciones de Lagrange, control cuadrático lineal LQR, filtro Kalman y control cuadrático gaussiano LQG
topic Pêndulo invertido, equações de Lagrange, controle quadrático linear LQR, filtro de Kalman e controle quadrático gaussiano LQG
Inverted pendulum, Lagrange equations, LQR linear quadratic control, Kalman filter and LQG Gaussian quadratic control
Péndulo invertido, ecuaciones de Lagrange, control cuadrático lineal LQR, filtro Kalman y control cuadrático gaussiano LQG
description The objective of this work was to design a linear quadratic controller for a system with an inverted pendulum in a mobile robot. Quantitative type research is described, with a non-experimental descriptive transectional study design. With the support of a documentary investigation. For the operational development of this research, a simulation study was carried out in the MATLAB Simulink environment. The results obtained show that both LQR and LQG are able to control the success of this system completely. It is concluded that by proper manipulation of the state/control weights and the noise covariance matrices, both LQR and LQG will give a satisfactory result.
publishDate 2022
dc.date.none.fl_str_mv 2022-10-30
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
format article
status_str publishedVersion
dc.identifier.uri.fl_str_mv https://journals.sapienzaeditorial.com/index.php/SIJIS/article/view/536
10.51798/sijis.v3i7.536
url https://journals.sapienzaeditorial.com/index.php/SIJIS/article/view/536
identifier_str_mv 10.51798/sijis.v3i7.536
dc.language.iso.fl_str_mv spa
language spa
dc.relation.none.fl_str_mv https://journals.sapienzaeditorial.com/index.php/SIJIS/article/view/536/369
dc.rights.driver.fl_str_mv https://creativecommons.org/licenses/by-nc-nd/4.0
info:eu-repo/semantics/openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by-nc-nd/4.0
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Sapienza Grupo Editorial
publisher.none.fl_str_mv Sapienza Grupo Editorial
dc.source.none.fl_str_mv Sapienza: International Journal of Interdisciplinary Studies; Vol. 3 No. 7 (2022): Theoretical and methodological plurality; 215-227
Sapienza: International Journal of Interdisciplinary Studies; Vol. 3 Núm. 7 (2022): Pluralidad teórica y metodológica; 215-227
Sapienza: International Journal of Interdisciplinary Studies; v. 3 n. 7 (2022): Pluralidade teórica e metodológica; 215-227
2675-9780
10.51798/sijis.v3i7
reponame:Sapienza (Curitiba)
instname:Sapienza Grupo Editorial
instacron:SAPIENZA
instname_str Sapienza Grupo Editorial
instacron_str SAPIENZA
institution SAPIENZA
reponame_str Sapienza (Curitiba)
collection Sapienza (Curitiba)
repository.name.fl_str_mv Sapienza (Curitiba) - Sapienza Grupo Editorial
repository.mail.fl_str_mv editor@sapienzaeditorial.com
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