Papers by Marco Cabrera herrera
Optimal-Robust Controller Applied to an Inverted Pendulum-Cart System: A Graphic Performance Analysis
In this work a performance graphic analysis approach based on radar charts for an optimal-robust ... more In this work a performance graphic analysis approach based on radar charts for an optimal-robust controller with different switching functions is presented. For purpose of taking an overall performance criteria of control algorithm, this graphic analysis is used. The stabilization of the Car-Pendulum System is performed through the optimal-robust controller based on the Variable Structure Control (VSC) and the Linear Quadratic Regulator (LQR) as sliding surface. Different chattering reduction methods are tuned by using Particle Swarm Optimization (PSO) methodology. The performance based on radar graphs are performed using ISE, IAE, \(\%M_p\) and TV indexes through initial conditions, disturbances and uncertain parameter tests by simulations.
This paper presents experimental results of three control strategies to stabilize a two-wheeled i... more This paper presents experimental results of three control strategies to stabilize a two-wheeled inverted pendulum. The control techniques used are PID, Linear-Quadratic Regulator (LQR), and Sliding Mode Control. The comparison results of the three controllers are for angular wheel position tracking, for external disturbances, and parameter uncertainties in the model. Tests are quantified in terms of Integral Square Error – ISE. For the experiments, the robot was constructed with LEGO Mindstorms NXT 2.0. Keywords—LQR, PID, sliding mode control, robustness, tracking.
Sliding Mode Control: An Approach to Control a Quadrotor
2015 Asia-Pacific Conference on Computer Aided System Engineering, 2015
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Papers by Marco Cabrera herrera