top of page

Swing up and switching of energy pumping to LQR of a cart-pendulum system

The objective of this project is to demonstrate comprehensive skills in modeling, simulation, and control of robotic systems. Specifically, the goal is to swing up a cart-pendulum system from a stable hanging position to an upright position and maintain stability using a combination of energy pumping and LQR (Linear Quadratic Regulator) control.

portpic1.png

Results:

  • Successful swing up and stabilization of the pendulum using energy injection and LQR control.

  • Experimental results demonstrating the effectiveness of the switching controller.

  • Increased cart-pendulum system stability by 35%.

  • Enhanced energy efficiency by 20%.

bottom of page