Linear quadratic-based computed-torque control of an actuated pendulum with friction
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Date
2021
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Journal ISSN
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Publisher
University of Oum El Bouaghi
Abstract
In this paper, the trajectory tracking control of an actuated pendulum with friction using LQ-based computed-torque controller is studied. The control scheme consists of feedback linearization loop to cancel nonlinear dynamics and LQ as outer-loop controller. The dynamic model is developed
using Euler-Lagrange formulation and the stability behavior is analyzed for both open and closed-loop system. Simulation result show that LQ-based computed-torque controller is effective in terms of computing optimal feedback gains that minimize the position and velocity tracking errors.
Description
Keywords
Optimal control; Linear quadratic regulator; Computed-torque; Stability; Pendulum