控制器LQR和SMC应用于平台摆锤
Controlador LQR y SMC Aplicado a Plataformas Pendulares
摘要：
一个摆动的平台是一个机器人结构中常用的控制器的设计给出其非线性动力学，这项工作提出了建模，设计和实施的最优LQR控制器和滑模SMC控制器应用到两个商业平台，Quanser旋转倒立摆（RotPen）和乐高移动倒立摆（NxtWay）。这项工作的贡献是提出了一种方法，LQR和SMC控制器的摆动平台上的实施，出席在商业样机的硬件和软件的各自的限制。文章介绍了分析模型上设计的控制器的行为相比，其实现。
英文摘要：
A pendular platform is a robotic structure commonly used in the design of controllers given its nonlinear dynamics; This work presents the modeling, design and implementation of an optimal LQR controller and a Sliding Mode SMC controller applied to two commercial platforms, the Quanser rotary inverted pendulum (RotPen) and the Lego mobile inverted pendulum (NxtWay). The contribution of this work is to present a methodology of implementation of LQR and SMC controllers on pendular platforms, attending the respective restrictions of hardware and software in commercial prototypes. The article presents the behavior of the controller designed on the analytical model compared to its implementation.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
