Performance the balance of circular inverted pendulum by using LQR controlled theory

摘要

In this study, the LQR control theory was employed to control the upright inverted pendulum to be balanced. The traditional controller was designed by the mathematical model of the physical system, but fuzzy controller collected set theory, membership function and control knowledge. In fact, LQR controllers are able to processes make complex and inexact mathematical models be controlled well. There are many ways to control the way and theory: a mathematical model, fuzzy control theory, Lyapunov function and LQR control theory and so on, the use of dynamic equations of the characteristics of online adjustment of the controller parameters to control the inverted pendulum mechanism, upright positioning of the pendulum, and suspension oscillation elimination control. The results disclosed that the circular inverted pendulum with LQR control algorithm performed more stable than that with the traditional PID control method.