Linear quadratic-based computed-torque control of an actuated pendulum with friction

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dc.contributor.authorGhediri, Akram
dc.contributor.authorLamamra, Kheireddine
dc.contributor.authorAit Kaki, Abdelaziz
dc.date.accessioned2025-04-21T21:13:50Z
dc.date.available2025-04-21T21:13:50Z
dc.date.issued2021
dc.description.abstractIn 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.
dc.identifier.urihttp://dspace.univ-oeb.dz:4000/handle/123456789/21964
dc.language.isoen
dc.publisherUniversity of Oum El Bouaghi
dc.subjectOptimal control; Linear quadratic regulator; Computed-torque; Stability; Pendulum
dc.titleLinear quadratic-based computed-torque control of an actuated pendulum with friction
dc.typeArticle
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The 1 ST international conference on electronics, artificial intelligence and technologies ICEAINT 2021