Study on swing up control algorithm and simulation about circular rail double Inverted pendulum under limited torque

Author

Hou, Xianglin ; Chen, Cong ; Yu, Haifeng

Author_Institution

Sch. of Sci., Shenyang Jianzhu Univ., Shenyang, China

fYear

2012

fDate

23-25 May 2012

Firstpage

855

Lastpage

860

Abstract

Swing up control question about circular rail double Inverted pendulum is studied. To known swing up time, divide them into time intervals. Make controlled quantity in each time interval as design variables and end-points related with controlled quantities as objective function. Limit condition of controlled quantities is formed into objective function. And a optimization question about determining controlled quantity is established. Control law of circular rail double Inverted pendulum is computed and simulated. Validity and feasibility are showed. The foundation is proposed for the control of non-linear system.

Keywords

control system synthesis; nonlinear control systems; optimisation; pendulums; rails; sampled data systems; torque control; circular rail double inverted pendulum; control law; controlled quantity; design variables; limited torque; nonlinear system control; objective function; optimization; swing up control algorithm; swing up time; time intervals; Algorithm design and analysis; Gradient methods; Heuristic algorithms; Mathematical model; Rails; Torque; circular rail double Inverted pendulum; limited torque; open-loop control law; optimization method; swing up control;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Decision Conference (CCDC), 2012 24th Chinese

Conference_Location

Taiyuan

Print_ISBN

978-1-4577-2073-4

Type

conf

DOI

10.1109/CCDC.2012.6244133

Filename

6244133