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.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.