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Supervised by Ministry of Industry and Information Technology of The People's Republic of China Sponsored by Harbin Institute of Technology Editor-in-chief Yu Zhou ISSNISSN 1005-9113 CNCN 23-1378/T

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Related citation:Huu Chan Thanh Nguyen,An-Wen Shen.Using Adaptive Gain Scheduling LQR Method Control of Arm Driven Inverted Pendulum System Based on PIC18F4431[J].Journal of Harbin Institute Of Technology(New Series),2013,20(4):85-92.DOI:10.11916/j.issn.1005-9113.2013.04.014.
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Using Adaptive Gain Scheduling LQR Method Control of Arm Driven Inverted Pendulum System Based on PIC18F4431
Author NameAffiliation
Huu Chan Thanh Nguyen Department of Control Science and Engineering, HuaZhong University of Science and Technology, WuHan 430074, China 
An-Wen Shen Department of Control Science and Engineering, HuaZhong University of Science and Technology, WuHan 430074, China 
Abstract:
The arm driven inverted pendulum system is a highly nonlinear model, multivariable and absolutely unstable dynamic system so it is very difficult to obtain exact mathematical model and balance the inverted pendulum with variable position of the arm. To solve this problem, this paper presents a mathematical model for arm driven inverted pendulum in mid-position configuration and an adaptive gain scheduling linear quadratic regulator control method for the stabilizing the inverted pendulum. The proposed controllers for arm driven inverted pendulum are simulated using MATLAB-SIMULINK and implemented on an experiment system using PIC 18F4431 microcontroller. The result of experiment system shows the control performance to be very good in a wide range stabilization of the arm position.
Key words:  Arm Driven Inverted Pendulum (ADIP)  adaptive gain scheduling LQR control  LQR control  swing up pendlum
DOI：10.11916/j.issn.1005-9113.2013.04.014
Clc Number:12163
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