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

Author

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

Author_Institution

Sch. of Traffic & Mech. Eng., Shenyang Jianzhu Univ., Shenyang, China

fYear

2010

fDate

26-28 May 2010

Firstpage

2971

Lastpage

2974

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.

Keywords

nonlinear systems; optimisation; pendulums; springs (mechanical); D´alembert principle; discrete control quantity; linear spring-connected double inverted pendulum; optimization method; swing-up control; Civil engineering; Computational modeling; Damping; Force control; Mechanical engineering; Mechanical variables control; Open loop systems; Optimization methods; Shafts; Traffic control; Linear Spring-connected Inverted Pendulum; Optimization; Simulating; Swing-up Control;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Decision Conference (CCDC), 2010 Chinese

Conference_Location

Xuzhou

Print_ISBN

978-1-4244-5181-4

Electronic_ISBN

978-1-4244-5182-1

Type

conf

DOI

10.1109/CCDC.2010.5498677

Filename

5498677