Unified controller for swing-up control of parallel and serial double inverted pendulum systems
by Tomohiro Henmi; Mingcong Deng; Akira Inoue
International Journal of Advanced Mechatronic Systems (IJAMECHS), Vol. 6, No. 2/3, 2015

Abstract: In this paper, a unified method which achieves the swing-up control of two types of the double inverted pendulum systems, namely, a serial type and a parallel type, is proposed. Inverted pendulum systems are typical example of nonlinear and underactuated mechanical systems and well-known in control engineering for verification and practice of various kinds of control theories. Generally, swing-up control problems of the serial and the parallel double inverted pendulum systems have been treated as completely different control problems, because the dynamics of each type is altogether different. However, in the proposed method, the controller can be designed in same algorithm by treating as separate two single pendulums and regarding both types of double inverted pendulum systems as same system. Numerical simulations and experimental results are given to show the effectiveness of the proposed method.

Online publication date: Tue, 21-Jul-2015

The full text of this article is only available to individual subscribers or to users at subscribing institutions.

 
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.

Pay per view:
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.

Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Advanced Mechatronic Systems (IJAMECHS):
Login with your Inderscience username and password:

    Username:        Password:         

Forgotten your password?


Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.

If you still need assistance, please email subs@inderscience.com