CONTROL OF THE DOUBLE INVERTED PENDULUM ON A CART USING THE NATURAL MOTION

Authors

  • Zdenek Neusser Department of Mechanics, Biomechanics and Mechatronics, Faculty of Mechanical Engineering, Czech Technical University in Prague, Technická 4,166 07 Prague
  • Michael Valášek Department of Mechanics, Biomechanics and Mechatronics, Faculty of Mechanical Engineering, Czech Technical University in Prague, Technická 4,166 07 Prague

DOI:

https://doi.org/10.14311/AP.2013.53.0883

Abstract

This paper deals with controlling the swing-up motion of the double pendulum on a cart using a novel control. The system control is based on finding a feasible trajectory connecting the equilibrium positions from which the eigenfrequencies of the system are determined. Then the system is controlled during the motion between the equilibrium positions by the special harmonic excitation at the system resonances. Around the two equilibrium positions, the trajectory is stabilized by the nonlinear quadratic regulator NQR (also known as SDRE – the State Dependent Riccati Equation). These together form the control between the equilibrium positions demonstrated on the double pendulum on a cart.

Downloads

Download data is not yet available.

Downloads

Published

2013-12-31

Issue

Vol. 53 No. 6 (2013)

Section

Articles

License

Authors who publish with this journal agree to the following terms:

1. Authors retain copyright and grant the journal right of first publication with the work simultaneously licensed under a Creative Commons Attribution License that allows others to share the work with an acknowledgement of the work's authorship and initial publication in this journal.

2. Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgement of its initial publication in this journal.

3. Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) prior to and during the submission process, as it can lead to productive exchanges, as well as earlier and greater citation of published work (See The Effect of Open Access).

4. ddd

How to Cite

Neusser, Z., & Valášek, M. (2013). CONTROL OF THE DOUBLE INVERTED PENDULUM ON A CART USING THE NATURAL MOTION. Acta Polytechnica, 53(6), 883-889. https://doi.org/10.14311/AP.2013.53.0883