Open AccessCONTROL OF THE DOUBLE INVERTED PENDULUM ON A CART USING THE NATURAL MOTION
Author(s) -
Zdeněk Neusser,
Michael Valášek
Publication year - 2013
Publication title -
acta polytechnica
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.207
H-Index - 15
eISSN - 1805-2363
pISSN - 1210-2709
DOI - 10.14311/ap.2013.53.0883
Subject(s) - double pendulum , control theory (sociology) , inverted pendulum , trajectory , riccati equation , double inverted pendulum , pendulum , nonlinear system , physics , furuta pendulum , motion (physics) , harmonic oscillator , mathematics , classical mechanics , control (management) , computer science , differential equation , quantum mechanics , artificial intelligence
This paper deals with controlling the swing-up motion of the double pendulum on a cart using a novel control. The system control is based on finding a feasible trajectory connecting the equilibrium positions from which the eigenfrequencies of the system are determined. Then the system is controlled during the motion between the equilibrium positions by the special harmonic excitation at the system resonances. Around the two equilibrium positions, the trajectory is stabilized by the nonlinear quadratic regulator NQR (also known as SDRE – the State Dependent Riccati Equation). These together form the control between the equilibrium positions demonstrated on the double pendulum on a cart.