CONTROL OF THE DOUBLE INVERTED PENDULUM ON A CART USING THE NATURAL MOTION
نویسندگان
چکیده
منابع مشابه
Optimal Control of a Double Inverted Pendulum on a Cart
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 balancing of an inverted pendulum by moving a cart along a horizontal track is a classic problem in the area of control. This paper describes two Neural Network controllers to swing a pendulum attached to a cart from an initial downwards position to an upright position and maintain that state. Both controllers are able to learn the demonstrated behavior which was swinging up and balancing t...
متن کاملRobust Control of an Inverted Pendulum on a Cart
This paper investigates the design and analysis of three controllers used to stabilize an inverted pendulum on a cart. This is accomplished by decomposing each control algorithm into two separate phases: swing-up control and stabilization control. A classical, H2, and H∞ design are each considered to stabilize a nominal linearized model of the inverted pendulum on a cart in the upward vertical ...
متن کاملFuzzy-logic control of an inverted pendulum on a cart
1 Purpose The purpose of this experiment is to apply controller and observer design techniques to a physical “difficult-to-control” system, namely, the inverted pendulum on a cart system. The controller will mainly be designed via optimal control techniques. The control objective is for the cart to track a square wave while the pendulum remains upright. Also, the controller must be improve the ...
متن کاملAn Impulse-Momentum Approach to Swing-Up Control of Double Inverted Pendulum on a Cart
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: Acta Polytechnica
سال: 2013
ISSN: 1805-2363,1210-2709
DOI: 10.14311/ap.2013.53.0883