Swing-up control of a serial double inverted pendulum

• Henmi T.

  岡山大学

• Deng Mingcong

• Inoue A.

  岡山大学

• Ueki N.

  岡山大学

• Hirashima Y.

  岡山大学

Bibliographic Information

Other Title

• 直列二重倒立振子の振り上げ制御

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

Keywords

• Serial double inverted pendulum
• Sliding mode control
• Energy control

Details

• CRID: 1390282680621571328
• NII Article ID: 130007001535
• DOI: 10.11511/jacc.46.0.587.0
• Data Source:
  • JaLC
  • CiNii Articles
• Abstract License Flag: Disallowed