LQR control on linear model of flexible inverted pendulum
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Most kinds of robots in researches are in solid structures. In these models, Euler-Lagrange method is easily used to obtain dynamic equations for simulation and obtaining controllers. But, actually, there is always flexibility - even very small or remarkable – in all kinds of robots. This research solves a problem in modelling a complex robot with a flexible link-flexible inverted pendulum- by presenting a method to simplify that robot.
Nội dung trích xuất từ tài liệu:
LQR control on linear model of flexible inverted pendulum
Nội dung trích xuất từ tài liệu:
LQR control on linear model of flexible inverted pendulum
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