PSO-Optimized LQR and Energy-Based Swing-Up Control for Reaction Wheel Inverted Pendulum
The Reaction Wheel Inverted Pendulum (RWIP) system presents challenges in balancing and swing-up control due to its nonlinear, underactuated nature. This study introduces an energy-based control approach for the swing-up phase, along with an optimized Linear Quadratic Regulator (LQR) for stabilizati...
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| Principais autores: | , , , |
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| Formato: | Artigo |
| Idioma: | Inglês |
| Publicado em: |
Editura Eftimie Murgu
2024-12-01
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| coleção: | Robotica & Management |
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