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Performance the balance of circular inverted pendulum by using LQR controlled theory

机译：利用LQR控制理论实现圆形倒立摆的平衡。

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摘要

In this study, the LQR control theory was employed to control the upright inverted pendulum to be balanced. The traditional controller was designed by the mathematical model of the physical system, but fuzzy controller collected set theory, membership function and control knowledge. In fact, LQR controllers are able to processes make complex and inexact mathematical models be controlled well. There are many ways to control the way and theory: a mathematical model, fuzzy control theory, Lyapunov function and LQR control theory and so on, the use of dynamic equations of the characteristics of online adjustment of the controller parameters to control the inverted pendulum mechanism, upright positioning of the pendulum, and suspension oscillation elimination control. The results disclosed that the circular inverted pendulum with LQR control algorithm performed more stable than that with the traditional PID control method.
机译：在这项研究中，LQR控制理论被用来控制垂直倒立摆的平衡。传统的控制器是通过物理系统的数学模型设计的，而模糊控制器则收集了集合论，隶属函数和控制知识。实际上，LQR控制器能够处理使复杂且不精确的数学模型受到良好控制的过程。控制的方式和理论有很多方法：数学模型，模糊控制理论，Lyapunov函数和LQR控制理论等，利用动态方程的特性在线调节控制器参数来控制倒立摆机构，摆的直立定位和悬架振荡消除控制。结果表明，与传统的PID控制方法相比，采用LQR控制算法的圆形倒立摆的稳定性更高。

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