LQR and SMC control applied to pendular platforms

Authors

Miguel F. Arévalo-Castiblanco, Universidad de La Salle, Bogota
C. H. Rodriguez-Garavito, Universidad de La Salle, Bogota
Álvaro A. Patiño-Forero, Universidad de La Salle, Bogota
José F. Salazar-Cáceres, Universidad de La Salle, Bogota

DOI

https://doi.org/10.4995/riai.2017.9101

Document Type

Article

Publication Date

1-1-2018

Publication Title

RIAI - Revista Iberoamericana de Automatica e Informatica Industrial

Abstract

A pendular platform is a robotic structure commonly used in the design of controllers given its nonlinear dynamics; This work presents the modeling, design and implementation of an optimal LQR controller and a Sliding Mode SMC controller applied to two commercial platforms, the Quanser rotary inverted pendulum (RotPen) and the Lego mobile inverted pendulum (NxtWay). The contribution of this work is to present a methodology of implementation of LQR and SMC controllers on pendular platforms, attending the respective restrictions of hardware and software in commercial prototypes. The article presents the behavior of the controller designed on the analytical model compared to its implementation.

Volume

15

Issue

4

First Page

374

Last Page

383

ISSN

16977912

Recommended Citation

Arévalo-Castiblanco, Miguel F.; Rodriguez-Garavito, C. H.; Patiño-Forero, Álvaro A.; and Salazar-Cáceres, José F., "LQR and SMC control applied to pendular platforms" (2018). Scopus Unisalle. 255.
https://ciencia.lasalle.edu.co/scopus_unisalle/255

Identifier

SCOPUS_ID:85048633124