论文标题
ControlAdor lqr y SMC Aplicado a Plataformas pendulares
Controlador LQR y SMC Aplicado a Plataformas Pendulares
论文作者
论文摘要
首长平台是一个机器人结构，鉴于其非线性动力学，在控制器设计中常用。这项工作介绍了最佳LQR控制器的建模，设计和实现，以及应用于两个商业平台的滑动模式SMC控制器，即Quanser Rotary倒置的摆（ROTPEN）和LEGO Mobile倒置Pendulum（NXTWay）。这项工作的贡献是介绍在摆平台上实施LQR和SMC控制器的方法，并在商业原型中限制了硬件和软件的限制。本文介绍了与其实施相比，在分析模型上设计的控制器的行为。
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.
