LQR Control for Five-Link Pendubot

Xuan-Dung Huynh1, Van-Dong-Hai Nguyen2*, Van-Khanh Doan3, Phong-Luu Nguyen2, Thi-Ty-Ty Vo2, Ngoc-Huyen Truong2, Thi-Yen-Nhi Nguyen2

1 Cao Thang College
65-Huynh Thuc Khang street, District 1, Ho Chi Minh city, Vietnam
2 Ho Chi Minh city University of Technology and Education (HCMUTE)
Vo Van Ngan street, 01, Ho Chi Minh city, Vietnam
3 “Politehnica” University of Bucharest (UPB)
Splaiul Independenţei nr. 313, Sector 6, Bucharest, Romania
* Corresponding author. E-mail: hainvd@hcmute.edu.vn

Robotica & Management, Vol. 26, No. 1, pp. 05-08
DOI: https://doi.org/10.24193/rm.2021.1.1

Abstract: Pendubot is a popular inverted pendulum model in control engineering. Usually, two-link pendubot is used due to its simplicity in mechanical structure and its nonlinear characteristic. The challenge of control can be increased by adding more links to system. In this paper, balancing five-link pendubot at TOP position and pulse-tracking this model are tested through simulation. The control algorithm LQR is in survey in this research. The simulation shows that system is stabilized well at working point and it is also control well in tracking a pulse trajectory.

Keywords: pendubot, LQR, TOP position, pulse tracking, five-link.

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