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회귀분석을 통한 역진자 시스템의 마찰력 추정 및 보상
- Alternative Title
- Kyung-Yun Park
- Author(s)
- 박경윤
- Alternative Author(s)
- Kyung-Yun Park
- Advisor
- 홍석교
- Department
- 일반대학원 전자공학과
- Publisher
- The Graduate School, Ajou University
- Publication Year
- 2006-08
- Language
- kor
- Keyword
- Regression Analysis; Friction; Inverted Pendulum
- Alternative Abstract
- This paper deals with the problem of friction measurement of an inverted pendulum system using the regression analysis and proposes a solution. The approach taken in this study is getting the friction from a regression relational expression between the motor voltage and the cart velocity of an inverted pendulum system. The result to compensate LQR (linear Quadratic Regulator) controller with the friction, which is measured in system, improved the performance of the system. Above all, the study has found that the proposed compensation of the friction reduces the oscillation of the cart position. In conclusion, the proposed method is useful when parameters in the given system model are not known
- Fulltext
- Appears in Collections:
- Graduate School of Ajou University > Department of Electronic Engineering > 3. Theses(Master)
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