Study on swing-up control of linear spring-connected double inverted pendulum

Xianglin Hou Xianglin Hou,Ning Zhang Ning Zhang,Xinhe Xu Xinhe Xu,Xijian Zheng Xijian Zheng

doi:10.1109/ccdc.2010.5498677

Study on swing-up control of linear spring-connected double inverted pendulum

Xianglin Hou Xianglin Hou, Ning Zhang Ning Zhang + Show 2 more

https://doi.org/10.1109/ccdc.2010.5498677

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Publication Date: May 1, 2010

Citations: 4

Affiliation: Shenyang Jianzhu University, Northeastern University

#Control Of Inverted Pendulum #Linear Inverted Pendulum + Show 8 more

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Abstract

This paper aims to study on swing-up control of linear spring-connected double inverted pendulum through establishing a mechanical model of the inverted pendulum with D'alembert Principle. Taking discrete control quantity as design variables and terminal constraint condition as objective function, swing-up control laws are computed by an optimization method. The results of simulating show that swing-up control of linear spring-connected double inverted pendulum is realized successfully by the optimization method and therefore illustrates that this method is effective and feasible.

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