Adjusting LQG with Noise Signals, PID Controller for Acrobot System

Abstract

Acrobot is a robotic system that is actuated to achieve a certain degree through a controller and/or motion motors. In order to control acrobot in a given position, the designers have to come up with appropriate algorithms. In fact, input signals into the system are affected by noise signals. Therefore, it is necessary to remove noisy signals. In this paper, a method to control the balance under the influence of noise signals affecting the system (LQG) is proposed. Through acrobot's equations of motion, the system is linearized to facilitate the use of the above regulator for positions around the equilibrium point. The role of a Kalman filter of an LQG regulator is also depicted. Besides, a PID controller was used to survey this system as a comprehensive assessment of the effectiveness of control methods for acrobot. As acrobot stability surveys are rare in recent years according to the data referenced below, this paper is useful for acrobot control purposes and can serve as an important database for the application of acrobots in practice. Simulations are performed on Matlab.