Analysing a two pendulum crane, then Developing and Implementing a control system for it

ENPM667-Final-Project

Description:

• Equations of motion for the system
• Obtain a Linearization of the given system
• Controllable conditions for the linearized system
• LQR Controller for the Linearized and the Non- Linear Systems
• Determine the observability of the Linearized and Non-Linear Systems
• Developing a Luenberger Observer for the system
• LQG Controller for the Linearized and the Non- Linear Systems

Control of Robotic Systems

Team Members
Bharadwaj Chukkala
Sri Sai Charan Velisetti

Contents

1. Simulations
2. Project paper
3. Report

Dependencies

• Matlab

How to run the code

• Download the simulation folder
• Open Matlab
• Run the mlx file that is associated with each problem in the matlab workbench
• the resulting plots should be displayed as shown in the report

Contact Author

Name : Bharadwaj Chukkala
Email : bchukkal@terpmail.umd.edu