The double inverted pendulum with real mass distribution stabilization

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F67985556%3A_____%2F23%3A00573454" target="_blank" >RIV/67985556:_____/23:00573454 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1109/CoDIT58514.2023.10284170" target="_blank" >http://dx.doi.org/10.1109/CoDIT58514.2023.10284170</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/CoDIT58514.2023.10284170" target="_blank" >10.1109/CoDIT58514.2023.10284170</a>

Result language
angličtina
Original language name
The double inverted pendulum with real mass distribution stabilization
Original language description
The stabilization of the real laboratory model of the underacuated double inverted pendulum having the actuator placed between its links and a realizable mass distribution adjustment is presented here. More specifically, this laboratory model is to be stabilized at its upper equilibrium with both links being stretched along a single line and pendulum achieving the maximal possible length. This paper presents various methods to design the stabilizing feedback for the double inverted pendulum actuated between its links and then performs optimization of the model with respect to masses distributions to minimize the controller torques. First, the open-loop control taking the double pendulum to the upper equilibrium is computed from various positions using the optimization tool FMINCON to minimize the torque energy with respect to the mass distribution parameters. Then the optimized parameters are used to test both the LQ feedback for local approximate linearization and the partial exact feedback linearization based nonlinear controller. Both simulations and laboratory experiments using a single leg of the walking-like four link experimental model are presented. The optimized mass distribution will be used in the future four-link development to facilitate its walking design.
Czech name
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Czech description
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Project
<a href="/en/project/GA21-03689S" target="_blank" >GA21-03689S: Novel concepts for analysis and design of nonlinear controllers and compensators of flexible and chained mechanical systems</a><br>
Continuities
I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Publication year
2023
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
Proceedings of the 9th 2023 International Conference on Control, Decision and Information Technologies (CoDit 2023)
ISBN
979-8-3503-1141-9
ISSN
2576-3555
e-ISSN
2576-3555
Number of pages
7
Pages from-to
0594
Publisher name
IEEE
Place of publication
Piscataway
Event location
Roma
Event date
Jul 3, 2023
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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