This paper considers experimental study and analysis on simultaneous swing-up control of a parallel cart-type double inverted pendulum. The proposed controller includes both a swing-up controller based on weighted energy related function and a cart travel controller designed by a pole assignment control scheme. The cart travel controller can restrict cart travel during the swingup. When the two pendulums are swung up, the controller will be switched to a stabilizing controller, and the controller can take the cart to the initial position. Control simulation and experiment were successfully conducted.
In this paper, a swing-up and stabilization control method for two type double inverted pendulums, that is, serial double inverted pendulum and parallel double inverted pendulum, is proposed. In the proposed method, since two pendulums are treated as separate single pendulum and controllers using energy-based control are designed for each pendulum, this method is applicable to both of swing-up control problems of serial and parallel double inverted pendulums, whereas so far those problems have been treated as completely different control problems. Experimental results are given to show the effectiveness of the proposed method
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