Swing-Up Control of a Serial Cart-Type Double Inverted Pendulum System

• HENMI Tomohiro

  岡山大学大学院自然科学研究科

• DENG Mingcong

  Department of Systems Engineering, Faculty of Engineering, Okayama University

• INOUE Akira

  Department of Systems Engineering, Faculty of Engineering, Okayama University

• UEKI Nobuyuki

  Department of Systems Engineering, Faculty of Engineering, Okayama University

• HIRASHIMA Yoichi

  Department of Systems Engineering, Faculty of Engineering, Okayama University

Bibliographic Information

Other Title

• 台車型直列二重倒立振子の振り上げ制御
• ダイ シャガタ チョクレツ 2ジュウ トウリツ フリコ ノ フリアゲ セイギョ

Abstract

In this paper, a swing up control scheme for a serial double inverted pendulum system is proposed. The pendulum system is cart-type and the swing upcontrol includes a position control of the cart. The control scheme is to swing up the pendulum in three steps, Step 1 : to swing up the first pendulum. Step 2 : to swing up the second pendulum while stabilizing the first pendulum at the upright position, and Step 3 : to stabilize the two pendulums around the unstable equilibrium state. In each step a control scheme and a switching rule from a step to the next step are given. And the position control of the cart by using feedback stabilization control is included in the controller of each step. For the controller of Step 1, the energy control method based on Lyapunov method is applied to swing up the first pendulum and the feedback stabilization controller of a cart position is added so as to satisfy the condition of Lyapunov method of the first pendulum. For the controller of Step 2, the proposed method combines a stabilization control method of the first pendulum and the cart position using sliding mode control method, and a swing-up control method of the second pendulum using energy control method. And for the controller in Step 3, the sliding mode controller stabilizing both of the pendulums and the cart position is used. A numerical simulation and an experimental result are given to show the effectiveness of the proposed scheme

Journal

• TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C

  TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C 71 (704), 1269-1275, 2005

  The Japan Society of Mechanical Engineers

Keywords

• Nonlinear Control
• Mechatronics and Robotics
• Nonlinear Problem
• Serial Double Inverted Pendulum
• Energy Control
• Sliding Mode Control

Details

• CRID: 1390001206356778752
• NII Article ID: 130004235626
• NII Article ID: 110006264662
• NII Book ID: AN00187463
• DOI: 10.1299/kikaic.71.1269
• ISSN: 18848354
• ISSN: 03875024
• NDL BIB ID: 7338808
• Web Site: http://id.ndl.go.jp/bib/7338808
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I7338808
• Web Site: http://www.jstage.jst.go.jp/article/kikaic1979/71/704/71_704_1269/_pdf
• Text Lang: ja
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
  • KAKEN
• Abstract License Flag: Disallowed