Title: Unified controller for swing-up control of parallel and serial double inverted pendulum systems

Authors: Tomohiro Henmi; Mingcong Deng; Akira Inoue

Addresses: Department of Electro-Mechanical Systems Engineering, Kagawa College, National Institute of Technology, 355 Chokushicho, Takamatsu, Kagawa 761-8058, Japan ' Department of Electrical and Electronic Engineering, Tokyo University of Agriculture and Technology, 2-24-16 Nakacho, Koganei, Tokyo 184-8588, Japan ' Okayama University, 3-1-1, Tsushima, Okayama,700-8530, Japan

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.

Keywords: inverted pendulum; swing-up control; sliding mode control; SMC; energy-based control; unified controller design; numerical simulation.

DOI: 10.1504/IJAMECHS.2015.070712

International Journal of Advanced Mechatronic Systems, 2015 Vol.6 No.2/3, pp.98 - 107

Available online: 20 Jul 2015 *

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