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• W2792137385 abstract "Inverted pendulum is a nonlinear dynamical system with a strong implication in studying human balance, developing bipedal robot or rehabilitation. The rotary type of the inverted pendulum showed rather complicated to implement its control and maintain its stability than a linear one. Design and implement the control law of such a complicated system is quite difficult and challenging. The paper thus proposed a policy by using combination of LQR and refined PID control to maintain the inverted balance of the pendulum. Together with a swing up control, the full control of the pendulum was practically implemented, and realized to be more robust to outside interference." @default.
• W2792137385 created "2018-03-29" @default.
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• W2792137385 date "2017-11-01" @default.
• W2792137385 modified "2023-10-17" @default.
• W2792137385 title "LQR control with refined PID to balance rotary inverted pendulum with time-varying uncertainty" @default.
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• W2792137385 doi "https://doi.org/10.1109/ifuzzy.2017.8311812" @default.
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