Energy-based control of a double inverted pendulum

Abstract

In this paper, a swing-up and stabilization control method for two type double inverted pendulums, 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. Numerical simulations are given to show the effectiveness of the proposed scheme in this paper.