Trong-Bang Tran*, Minh-Dat Luong, Hai-Dang Nguyen, Minh-Dang Nguyen, Trong-Sang Truong, Huu-Minh-Quan Nguyen, Tran-Dinh-Vy Bui, Xuan-Tuan Le
Ho Chi Minh city University of Technology and Education (HCMUTE)
Vo Van Ngan street, No. 01, Ho Chi Minh City, Vietnam
* Corresponding author. E-mail: 20151093@student.hcmute.edu.vn
Robotica & Management, Vol. 29, No. 1, pp. 34-38
DOI: https://doi.org/10.24193/rm.2024.1.6
Abstract: Pendubot is a popular single input-multi output (SIMO) in laboratories to test control algorithms. In this paper, we focus on a developed model of pendubot – linear triple-linked pendubot (LTLP) and propose LQR to control this model. Through simulation, link 1 is kept balanced, kept following trajectories when link 2, 3 is kept upward under LQR control. Thence, besides balancing well this model at TOP position, our algorithm also makes system tracking sine and pulse trajectories well.
Keywords: LQR algorithm; pendubot; optimal control; SIMO system.
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