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

An 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 ...

Practical Swing-up Controller Design for a Cart-type Single Inverted Pendulum Having a Serial Second Pendulum as Parasitic Dynamics

This paper proposes a swing-up control scheme for a cart-type single pendulum having a serial second pendulum as a parasitic part. The proposed control scheme swings up the first pendulum with controlling the motion of a cart and being robust to the parasitic part. In the swing-up, the second pendulum is swinging at the top of the first pendulum and the motion of the second pendulum works as st...

Swing up Control of an Inverted Pendulum

Swing-up control of inverted pendulum systems

In Part I a technique for the swing-up control of single inverted pendulum system is presented. The requirement is to swing-up a carriage mounted pendulum system from its natural pendent position to its inverted position. It works for all carriage balancing single inverted pendulum systems as the swing-up control algorithm does not require knowledge of the system parameters. Comparison with pre...

Swing Up Control of Inverted Pendulum Abstract

Katsuhisa Furuta and Masaki Yamakita Department of Control Engineering Tokyo Institute of Technology 2121 0 h-0 kayama, Meguroku Tokyo 152 Japan Seiichi Kobayashi Nippon Seiko Ltd. 78 Toriba-machi, Maebashi-shi Gunma 371 Japan Inverted pendulums have been used for the verification of designed control systems and control laboratory experiments in control theory education. In particular, the cont...