The Design and Realization of a Rotary Inverted Pendulum Based on Efficient Control

DOI

10.2991/eeeis-17.2017.1How to use a DOI?

Keywords

rotary inverted pendulum; efficient control; optimization; linear quadratic; fuzzy control; STM32.

Abstract

Abstract: In this paper, a single-stage rotary inverted pendulum system is set up by using rotary encoder, servo motor and some mechanical structures. Lagrange equation is used to build up the mathematic model of single-stage rotary inverted pendulum. Linear quadratic regulator (LQR) and fuzzy control method are used to achieve the control functions of the rotary inverted pendulum. Experiments are taken to verify this control strategy through Matlab simulation. The system is realized on STM32 development board.

Copyright

© 2017, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Zhi-Yu ZHAO
AU  - Gang DU
AU  - Yun-Tao GOU
AU  - Jun LI
PY  - 2017/09
DA  - 2017/09
TI  - The Design and Realization of a Rotary Inverted Pendulum Based on Efficient Control
BT  - Proceedings of the 3rd Annual International Conference on Electronics, Electrical Engineering and Information Science (EEEIS 2017)
PB  - Atlantis Press
SP  - 1
EP  - 9
SN  - 2352-5401
UR  - https://doi.org/10.2991/eeeis-17.2017.1
DO  - 10.2991/eeeis-17.2017.1
ID  - ZHAO2017/09
ER  -