Swing-up control of double-inverted pendulum systems
| Autor: | A. M. Al Juboori, M. T. Hussein, A. S. G. Qanber |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2024 |
| Předmět: | |
| Zdroj: | Mechanical Sciences, Vol 15, Pp 47-54 (2024) |
| Druh dokumentu: | article |
| ISSN: | 2191-9151 2191-916X |
| DOI: | 10.5194/ms-15-47-2024 |
| Popis: | This article deals with presenting a new swing-up control approach of a double-inverted pendulum on a trolley. The dynamic model of the double-inverted pendulum is derived and linearized. Two different linearization approaches are used: first, the traditional Taylor's series approach and, second, using partial linearization. A state feedback control algorithm has been implemented based on the linearized model from Taylor's series. Furthermore, a method for swinging up the pendulum to the inversion position from rest (swing-up) has been presented. The design and implementation of the swing-up function of the pendulum are implemented using the partial linearized model. The swing-up control procedure depends on using the feedforward–feedback controllers' combination to transfer the pendulums from the downward to the upward position. The time-variant controller gain is used for the sake of the swing-up control procedure. The performances of these algorithms are shown in this paper through simulations. |
| Databáze: | Directory of Open Access Journals |
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