Synchronization configurations of two coupled double pendula

We consider the synchronization of two self-excited double pendula hanging from a horizontal beam which can roll on the parallel surface. We show that such pendula can obtain four different robust synchronous configurations. Our approximate analytical analysis allows to derive the synchronization conditions and explains the observed types of synchronizations. We consider the energy balance in the system and show how the energy is transferred between the pendula via the oscillating beam allowing the pendula’ synchronization.