Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
698388 | Automatica | 2007 | 9 Pages |
Abstract
The swing-up maneuver of the double pendulum on a cart serves to demonstrate a new approach of inversion-based feedforward control design introduced recently. The concept treats the transition task as a nonlinear two-point boundary value problem of the internal dynamics by providing free parameters in the desired output trajectory for the cart position. A feedback control is designed with linear methods to stabilize the swing-up maneuver. The emphasis of the paper is on the experimental realization of the double pendulum swing-up, which reveals the accuracy of the feedforward/feedback control scheme.
Related Topics
Physical Sciences and Engineering
Engineering
Control and Systems Engineering
Authors
Knut Graichen, Michael Treuer, Michael Zeitz,