Energy and passivity based control of the double inverted pendulum on a cart

Author

Zhong, Wei ; Röck, Helmut

Author_Institution

Dept. of Autom. & Control Eng., Kiel Univ., Germany

fYear

2001

fDate

2001

Firstpage

896

Lastpage

901

Abstract

The paper considers the design of a nonlinear controller for the double inverted pendulum (DIP), a system consisting of two inverted pendulums mounted on a cart. The swingup controller bringing the pendulums from any initial position to the unstable up-up position is designed based on passivity properties and energy shaping. While the swingup controller drives the DIP into a region of attraction around the unstable up-up position, the balance controller designed on the basis of the linearized model stabilizes the DIP at the unstable equilibrium. The simulation results show the effectiveness of the proposed nonlinear design method for the DIP system

Keywords

control system synthesis; linearisation techniques; nonlinear control systems; pendulums; stability; DIP; attraction region; balance controller; cart-pole system; double inverted pendulum; energy shaping; energy-based control; nonlinear controller design; passivity-based control; swing-up controller; swingup controller; unstable up-up position; Automatic control; Control systems; Design automation; Design methodology; Electronics packaging; Feedback; Mechanical systems; Nonlinear control systems; Robots; Shape control;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 2001. (CCA '01). Proceedings of the 2001 IEEE International Conference on

Conference_Location

Mexico City

Print_ISBN

0-7803-6733-2

Type

conf

DOI

10.1109/CCA.2001.973983

Filename

973983