直列二重倒立振子の振り上げ制御 Swing-up control of a serial double inverted pendulum

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Abstract

In this paper, a swing-up controller for a serial double inverted pendulum is proposed. 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. A control scheme for each step and a switching rule from a step to the next step are given. A numerical simulation is given to show the effectiveness of the proposed scheme.

Journal

  • Proceedings of the Japan Joint Automatic Control Conference

    Proceedings of the Japan Joint Automatic Control Conference 46(0), 587-590, 2003

    The Japan Joint Automatic Control Conference

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