Inverted_Double_Pendulum_Cart

Overview

This project involves the development of a two-load crane control system, implemented as part of the ENPM667 Robotics course. The main objective was to enhance the crane's dynamic response and stability using advanced control algorithms.

Features

• Control Algorithms: Implementation of Linear Quadratic Regulator (LQR) and Linear Quadratic Gaussian (LQG) control strategies.
• Simulation: MATLAB simulations to validate the performance and stability of the control system under various load conditions.
• Stability Analysis: Utilization of Lyapunov's indirect method to ensure system stability.

Results and Visualizations

Open Loop System using LQR

Closed Loop System using LQR with Linear State Feedback

Response of the Non-Linear System using LQR Controller

LQR Feedback Gain Matrix and Positive Definite Matrix

Luenberger Observer’s Responses

• Response to Initial Conditions for x(t)
• Step Response for x(t)
• Response to Initial Conditions for x(t), θ1, θ2 

Detailed Report can be seen here: vigneshr_kiki1_project2-2.pdf