Balanceo y Estabilización del Péndulo Invertido Empleando Redes Neuronales Artificiales y un Regulador Lineal Óptimo con Criterio Cuadrático (LQR)
DOI:
https://doi.org/10.22517/23447214.8317Keywords:
Control inteligente, Péndulo invertido, Redes neuronales artificiales, Regulador lineal óptimo con criterio cuadráticoAbstract
En este artículo se presenta el desarrollo de un controlador para el péndulo invertido, basado en realimentación de las variables de estado para la zona de equilibrio a partir de un regulador lineal óptimo con criterio cuadrático y un modelo de energía como esquema de aprendizaje para la implementación de un control inteligente empleando redes neuronales artificiales a través del modelo inverso. Se presenta la integración de los controladores y las pruebas realizadas para el balanceo y la estabilización del sistema físico.Downloads
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