Evaluation of Experimental Implementations of Optimal Controllers for Underactuated Systems

Vyshak Sureshkumar, Shaima Abdulwahab Ali Al Habsi, Khalifa Hamad Harib, Adewale Oriyomi Oseni

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

Inverted pendulum control systems are widely employed benchmarking purposes as they offer similar challenges to those faced when designing controllers for underactuated systems. In this paper, an LQR-based control system consisting of an inverted pendulum on a cart is presented and used in a comparative experimental study on hardware controller implementation. The paper focuses on studying, comparing, and evaluating the performance of two options of controller implementations ranging from a low-cost microcontroller based embedded system, namely the Arduino DUE, to a relatively high-end, high-cost controller prototyping system, the dSpace DS1104.

Original languageEnglish
Title of host publication2022 Advances in Science and Engineering Technology International Conferences, ASET 2022
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781665418010
DOIs
Publication statusPublished - 2022
Event2022 Advances in Science and Engineering Technology International Conferences, ASET 2022 - Dubai, United Arab Emirates
Duration: Feb 21 2022Feb 24 2022

Publication series

Name2022 Advances in Science and Engineering Technology International Conferences, ASET 2022

Conference

Conference2022 Advances in Science and Engineering Technology International Conferences, ASET 2022
Country/TerritoryUnited Arab Emirates
CityDubai
Period2/21/222/24/22

Keywords

  • Arduino
  • Linear Quadratic Regulator
  • controller
  • dSpace
  • underactuated system

ASJC Scopus subject areas

  • Process Chemistry and Technology
  • Artificial Intelligence
  • Energy Engineering and Power Technology
  • Renewable Energy, Sustainability and the Environment
  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering
  • Mechanical Engineering
  • Waste Management and Disposal

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