Hybrid NN predictive-based LQR controller for rotary double inverted pendulum systems: an analytical study

被引：0

作者：

Sukontanakarn, Viroch ^{[1
]}

Parnichkun, Manukid ^{[1
]}

机构：

[1] Asian Inst Technol, Fac Mech, Sch Engn & Technol, Pathum Thani 12120, Thailand

来源：

INTERNATIONAL JOURNAL OF AUTOMATION AND CONTROL | 2011年 / 5卷 / 04期

关键词：

LQR; linear quadratic regulator; RDIP; rotary double inverted pendulum; NNPC; neural network predictive control;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper introduces a rotary double inverted pendulum (RDIP) systems. The model is derived by using Euler-Lagrange. Linear quadratic regulator (LQR) controller is applied as the main controller to stabilise the rotary double. However, LQR alone cannot control RDIP efficiently because the plant derived in linear model is not exact model of the real plant. Practically, controller design aiming to guarantee robustness has to consider these uncertainties. In this paper, neural network predictive control is proposed to improve control performance of the conventional LQR controller. Results on control techniques from computer simulation are evaluated and compared.

引用

页码：337 / 355

页数：19

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