Robust linear quadratic regulator applied to an inverted pendulum

Author(s)

Escalante, Felix M. ; Jutinico, Andres L. ; Terra, Marco H. ; Siqueira, Adriano A. G.

• Document type: Journal article
• Source: ASIAN JOURNAL OF CONTROL; v. N/A, p. 13-pg., 2022-11-08.

Abstract

The natural instability of an inverted pendulum and its dynamics richness, in terms of nonlinearity, provide a nice apparatus to reproduce behaviors of analogous systems. In this way, it is useful to perform benchmark tests for new control approaches developed. In this paper, we address the main inverted pendulum problems: pendulum stabilization, tracking, and catching swing-up control. We show how robust recursive, control and filtering, techniques improve the system performance. They are developed to solve stochastic problems based on deterministic approaches, in order to decrease the worst influence of uncertainties. Experimental results of the proposed robust approach provide robust stability and performance despite parametric uncertainties, disturbances, and noise effects. (AU)

• FAPESP's process: 11/04074-3 - Development of an interactive robotic device for rehabilitation of injuries of the knee
• Grantee: Wilian Miranda dos Santos
• Support Opportunities: Scholarships in Brazil - Master
• FAPESP's process: 14/50851-0 - INCT 2014: National Institute of Science and Technology for Cooperative Autonomous Systems Applied in Security and Environment
• Grantee: Marco Henrique Terra
• Support Opportunities: Research Projects - Thematic Grants
• FAPESP's process: 13/14756-0 - Adaptive variable impedance applied to robotic rehabilitation of walking
• Grantee: Adriano Almeida Gonçalves Siqueira
• Support Opportunities: Regular Research Grants
• FAPESP's process: 19/05937-7 - Hybrid adaptive strategies for lower limb exoskeletons
• Grantee: Adriano Almeida Gonçalves Siqueira
• Support Opportunities: Regular Research Grants