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Analysis and experiment on simultaneous swing‐up of a parallel cart‐type double inverted pendulum
Author(s) -
Deng Mingcong,
Inoue Akira,
Henmi Tomohiro,
Ueki Nobuyuki
Publication year - 2008
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.13
Subject(s) - swing , cart , inverted pendulum , control theory (sociology) , controller (irrigation) , double inverted pendulum , computer science , position (finance) , pendulum , engineering , control (management) , control engineering , artificial intelligence , physics , nonlinear system , mechanical engineering , agronomy , finance , quantum mechanics , economics , biology
Abstract This paper considers experimental study and analysis on simultaneous swing‐up control of a parallel cart‐type double inverted pendulum. The proposed controller includes both a swing‐up controller based on weighted energy related function and a cart travel controller designed by a pole assignment control scheme. The cart travel controller can restrict cart travel during the swing‐up. When the two pendulums are swung up, the controller will be switched to a stabilizing controller, and the controller can take the cart to the initial position. Control simulation and experiment were successfully conducted. Copyright © 2008 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society