Análisis comparativo entre un controlador difuso, un controlador LQR con filtro de Kalman y un controlador PID para un robot móvil pendular
A mobile pendular robot presents a dynamic similar to an inverted pendulum being an example of a non-linear and unstable system with a clear need of control. Despite several papers have been published dealing with the control issue of this plant from different points of view, these are limited to a...
- Autores:
-
Chate García, Karen Viviana
Prado Ramírez, Oscar Eduardo
- Tipo de recurso:
- Trabajo de grado de pregrado
- Fecha de publicación:
- 2016
- Institución:
- Universidad del Cauca
- Repositorio:
- Repositorio Unicauca
- Idioma:
- spa
- OAI Identifier:
- oai:repositorio.unicauca.edu.co:123456789/1662
- Acceso en línea:
- http://repositorio.unicauca.edu.co:8080/xmlui/handle/123456789/1662
- Palabra clave:
- Performance index
Inverted pendulum
Fuzzy controller
Kalman Filter
LQR
PID
Desempeño
Controlador difuso
Controladores lineales
Péndulo invertido
- Rights
- License
- https://creativecommons.org/licenses/by-nc-nd/4.0/
| Summary: | A mobile pendular robot presents a dynamic similar to an inverted pendulum being an example of a non-linear and unstable system with a clear need of control. Despite several papers have been published dealing with the control issue of this plant from different points of view, these are limited to a visual inspection of the controllers response curves, which does not offer a suitable selection criteria to determine the advantages of one controller over another. This document presents a comparison of a fuzzy PD controller with two linear controllers: a PID and a LQR with Kalman filter applied to a mobile pendular robot, using numeric selection criteria, such as performance indexes. |
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