Stabilization of Underactuated Mechanical System Using LQR Technique

Akash Gupta Akash Gupta,Adesh Kumar Adesh Kumar,Paawan Sharma Paawan Sharma,C S Meera,Varnita Verma Varnita Verma,Mukul Kumar Gupta

doi:10.1007/978-981-10-1708-7_68

Stabilization of Underactuated Mechanical System Using LQR Technique

Akash Gupta Akash Gupta, Adesh Kumar Adesh Kumar + Show 4 more

https://doi.org/10.1007/978-981-10-1708-7_68

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Publication Date: Sep 18, 2016

Citations: 3

Affiliation: University of Petroleum and Energy Studies

#Linear Quadratic Regulator Technique #Linear Quadratic Regulator + Show 8 more

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Abstract

The two-link inverted pendulum on cart (TLIPOC) is a widely known system having underactuation property. TLIPOC is a highly unstable and nonlinear system. The modelling of TLIPOC is obtained using Euler–Lagrangian approach. In this paper use of optimal control minimizing a quadratic cost functional is discussed. The aim of the paper is to stabilize the TLIPOC using linear quadratic regulator (LQR) technique. MATLAB simulations are used to show the efficiency and feasibility of proposed approach.

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