The objective of this paper is to design linear quadratic controllers for a system with an inverted pendulum on a mobile robot. To this goal, it has to be determined which control strategy delivers better performance with respect to pendulum’s angle and the robot’s position. The inverted pendulum represents a challenging control problem, since it continually moves toward an uncontrolled state. Simulation study has been done in MATLAB Simulink environment shows that both LQR and LQG are capable to control this system successfully. The result shows, however, that LQR produced better response compared to a LQG strategy.
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机译:Control and Dynamic Manipulability of a Dual-arm/Hand Robotic Exoskeleton System (EXO-UL8) for Rehabilitation Training in Virtual Reality =虚拟现实中用于康复训练的双臂/手机器人外骨骼系统(EXO-UL8)的控制和动力可操作性