A Multivariable Adaptive Control Approach for Stabilization of a Cart-Type Double Inverted Pendulum
نویسندگان
چکیده
منابع مشابه
A Multivariable Adaptive Control Approach for Stabilization of a Cart-Type Double Inverted Pendulum
This paper considers the design and practical implementation of linear-based controllers for a cart-type double inverted pendulum DIPC . A constitution of two linked pendulums placed on a sliding cart, presenting a three Degrees of Freedom and single controlling input structure. The controller objective is to keep both pendulums in an up-up unstable equilibrium point.Modeling is based on the Eu...
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In this report a number of algorithms for optimal control of a double inverted pendulum on a cart (DIPC) are investigated and compared. Modeling is based on Euler-Lagrange equations derived by specifying a Lagrangian, difference between kinetic and potential energy of the DIPC system. This results in a system of nonlinear differential equations consisting of three 2-nd order equations. This sys...
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The challenge in the swing-up problem of double inverted pendulum on a cart (DIPC) is to design a controller that bring all DIPC's states, especially the joint angles of the two links, into the region of attraction of the desired equilibrium. This paper proposes a new method to swing-up DIPC based on a series of restto-rest maneuvers of the first link about its vertically upright configuration ...
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ژورنال
عنوان ژورنال: Mathematical Problems in Engineering
سال: 2011
ISSN: 1024-123X,1563-5147
DOI: 10.1155/2011/970786