Here we design an optimal full-state feedback controller for the inverted pendulum on a cart example using the linear quadratic regulator (LQR). In Matlab, we find that this is a simple one-line command 'lqr'.
These lectures follow Chapter 8 from:
"Data-Driven Science and Engineering: Machine Learning, Dynamical Systems, and Control" by Brunton and Kutz
Amazon: www.amazon.com/Data-Driven-Sc...
Chapters available at: databookuw.com/databook.pdf
Book Website: databookuw.com
Brunton Website: eigensteve.com
This video was produced at the University of Washington
Негізгі бет Ғылым және технология Linear Quadratic Regulator (LQR) Control for the Inverted Pendulum on a Cart [Control Bootcamp]
Пікірлер: 85