DocumentCode
3314802
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
fYear
2009
fDate
17-18 Feb. 2009
Firstpage
1
Lastpage
6
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/IC4.2009.4909218
Filename
4909218
Link To Document