Modelling and Simulation of Spherical Inverted Pendulum Based on LQR Control with SimMechanics

Abstract:

This paper describes how to simulate the spherical inverted pendulum, a dynamics of multibody system, with SimMechanics. The control strategy used is based on the LQR feedback method for the stabilisation of the spherical inverted pendulum system. Simulation study has been done in Simulink environment shows that LQR controller is capable to control multi input and multi output of spherical inverted pendulum system successfully. The result shows that LQR control strategy gives satisfactory response that is presented in time domain with the details analysis. The use of SimMechanics for simulation of spherical inverted pendulum has some advantages i.e. not need to derive equations of motion, available visualisation tools, fast and easy design

• Periodical: Applied Mechanics and Materials (Volume 391)
• Pages: 163-167
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.391.163
• Online since: September 2013
• Authors: M. Fajar, S.S. Douglas, J.B. Gomm
• Keywords: Dynamic System, LQR Control, Multybody System, Spherical Inverted Pendulum

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