Title :
A new optimal control approach for double inverted pendulum on cart (DIPC)
Author :
Zare, Asef ; Balochian, Saeed ; Arvan, Mohammad Reza ; Balochian, Hossien
Author_Institution :
Gonabad Branch, Islamic Azad Univ., Gonabad
Abstract :
This paper presents a new control method for double inverted pendulum on cart problem. Firstly, model of system is presented. Secondly, it offers theorems and mathematical tools of optimal control of pendulum. Then, optimal control for double inverted pendulum on cart is designed. Finally, this algorithm and other methods are compared.
Keywords :
control system synthesis; nonlinear control systems; nonlinear programming; optimal control; pendulums; piecewise constant techniques; cart problem; double inverted pendulum; mathematical tool; nonlinear programming; optimal control design; piecewise constant function; Control systems; Force control; Kinetic energy; Lagrangian functions; Motion control; Neural networks; Nonlinear equations; Optimal control; Potential energy; Weight control; optimal control-nonlinear programming-robot arm;
Conference_Titel :
Computer, Control and Communication, 2009. IC4 2009. 2nd International Conference on
Conference_Location :
Karachi
Print_ISBN :
978-1-4244-3313-1
Electronic_ISBN :
978-1-4244-3314-8
DOI :
10.1109/IC4.2009.4909218
