Analysis and experiment on simultaneous swing‐up of a parallel cart‐type double inverted pendulum

Abstract

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.

Parameter identification of a model with Coulomb friction for a real Inverted Pendulum System

“…The explicitly parameterized model allows the using of PEM method. For simplicity, we rewrite the equation (9) as follows: , , , , q G t q ȥ y H t q ȥ °® ° (10) where y is the output signal. The PEM method is base on the idea according to [13]: a "good" model is one that is good at predicting, that is, one that produces small prediction errors when applied to the observed data.…”

“…The PEM method is base on the idea according to [13]: a "good" model is one that is good at predicting, that is, one that produces small prediction errors when applied to the observed data. The prediction error is defined as * * , | İ t ȥ y t y t ȥ (11) ŷ is the simulated output of the model (10).…”

“…In [3], only the cart-rail type frictions are considered. Some papers like [4], [10], [11] also considered the pendulum-pivot part simply as the proportional to the angular velocity. When applying the controllers designed under these simplified models to real control, the performance may be quite different from simulation.…”

Unified method for swing-up control of double inverted pendulum systems

“…There are several types of pendulums, e.g., a single pendulum, a parallel double pendulum, a serial double pendulum and a two dimensional pendulum. Many control methods[l], [2], [3], [4], [5], [6], [7], [9] have been proposed to control the inverted pendulum systems.…”

Naturally Inspired Firefly Controller For Stabilization Of Double Inverted Pendulum

“…Srikanth [1] has discussed about various types of controllers applied to the double inverted pendulum and also applied neural networks to the identification and control of such a system. Researchers have investigated various aspects of controller design [6][7][8][9][10][11][12]. However, active research has not be done on the time delay aspect of double inverted pendulum.…”