Controlador LQR y SMC Aplicado a Plataformas Pendulares
Systems and Control
2020-02-13 v1 Systems and Control
Abstract
A pendular platform is a robotic structure commonly used in the design of controllers given its nonlinear dynamics; This work presents the modeling, design and implementation of an optimal LQR controller and a Sliding Mode SMC controller applied to two commercial platforms, the Quanser rotary inverted pendulum (RotPen) and the Lego mobile inverted pendulum (NxtWay). The contribution of this work is to present a methodology of implementation of LQR and SMC controllers on pendular platforms, attending the respective restrictions of hardware and software in commercial prototypes. The article presents the behavior of the controller designed on the analytical model compared to its implementation.
Keywords
Cite
@article{arxiv.2002.04684,
title = {Controlador LQR y SMC Aplicado a Plataformas Pendulares},
author = {Miguel F. Arevalo-Castiblanco and C. H. Rodriguez-Garavito and Alvaro A. Patiño-Forero and Jose F. Salazar-Caceres},
journal= {arXiv preprint arXiv:2002.04684},
year = {2020}
}
Comments
10 pages, in Spanish, 8 figues, Journal article