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Bo Li UD_Thesis (2) final format approved LW 7-30-13.pdf (660.34 KB)
ETD Abstract Container
Abstract Header
Rotational Double Inverted Pendulum
Author Info
Li, Bo
Permalink:
http://rave.ohiolink.edu/etdc/view?acc_num=dayton1375188910
Abstract Details
Year and Degree
2013, Master of Science (M.S.), University of Dayton, Electrical Engineering.
Abstract
The thesis deals with the stabilization control of the Rotational Double Inverted Pendulum (RDIP) System. The RDIP is an extremely nonlinear, unstable, underactuated system of high order. A mathematical model is built for the RDIP with the Euler-Lagrange (E-L) equation. A Linear Quadratic Regulator (LQR) controller is designed for this system and its stability analysis is presented in the Lyapunov method. We re-develop the Direct Adaptive Fuzzy Control (DAFC) method in our case for the purpose of exploring the possibility to improve the performance of the LQR control of the system. The simulation results of these two control schemes with their comparative analysis show that the DAFC is able to enhance the LQR controller by increasing its robustness in the RDIP control.
Committee
Raul Ordonez, Ph.D. (Committee Chair)
Vijayan Asari, Ph.D. (Committee Member)
Ralph Barrera, Ph.D. (Committee Member)
Pages
67 p.
Subject Headings
Design
;
Electrical Engineering
Keywords
Double inverted pendulum, LQR, adaptive fuzzy control
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Citations
Li, B. (2013).
Rotational Double Inverted Pendulum
[Master's thesis, University of Dayton]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=dayton1375188910
APA Style (7th edition)
Li, Bo.
Rotational Double Inverted Pendulum.
2013. University of Dayton, Master's thesis.
OhioLINK Electronic Theses and Dissertations Center
, http://rave.ohiolink.edu/etdc/view?acc_num=dayton1375188910.
MLA Style (8th edition)
Li, Bo. "Rotational Double Inverted Pendulum." Master's thesis, University of Dayton, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=dayton1375188910
Chicago Manual of Style (17th edition)
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Document number:
dayton1375188910
Download Count:
8,195
Copyright Info
© 2013, all rights reserved.
This open access ETD is published by University of Dayton and OhioLINK.