Simultaneous swinging-up and stabilization of double furuta pendulums

Double Furuta pendulums, we named, has a structure that two rotational inverted pendulums are placed at both ends of a single driving arm. This paper presents a swinging-up and stabilization of double Furuta pendulums. As a control strategy, energy-based control design is utilized for swinging up from the pendant positions. Optimal control or nonlinear optimal control with SDRE (state-dependent Riccati equation) is used for stabilization of the pendulums at the upright positions. Simulation results show that the proposed design is successfully applied to the control of double Furuta pendulums.