Diseño e Implementación de un Control Òptimo LQR con la Tarjeta Raspberry Pi
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In this work we will describe the practices and theoretical implications about the cor- responding investigation for optimal control LQR design and implementation ( lineal quadratic regulator) in the raspberry pi card, this technique of control for a Stewart platform, it was previously simulated and identified. The plant which was imple- mented control techniques according to this project ( LQR and PID- proportional, in- tegral and derivate controller) it is a ball and plant system put in a stewart platform, which mecanic and assembly design was made by the authors. This device is consid- ered among the parallel robots because it has six arms located at different points of the platform, these have the function to support and give mobility . Each terminal is connected to an actuator (servomotor in this case) provided there in order to provide six degrees of freedom which characterize it and vary its inclination and rotation.