Control of the double inverted pendulum on a cart using the natural motion

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F13%3A00210790" target="_blank" >RIV/68407700:21220/13:00210790 - isvavai.cz</a>
Result on the web
<a href="http://ojs.cvut.cz/ojs/index.php/ap/article/view/AP.2013.53.0883" target="_blank" >http://ojs.cvut.cz/ojs/index.php/ap/article/view/AP.2013.53.0883</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.14311/AP.2013.53.0883" target="_blank" >10.14311/AP.2013.53.0883</a>

Result language
angličtina
Original language name
Control of the double inverted pendulum on a cart using the natural motion
Original language description
This paper deals with controlling the swing-up motion of the double pendulum on a cart using a novel control. The system control is based on finding a feasible trajectory connecting the equilibrium positions from which the eigenfrequencies of the systemare determined. Then the system is controlled during the motion between the equilibrium positions by the special harmonic excitation at the system resonances. Around the two equilibrium positions, the trajectory is stabilized by the nonlinear quadratic regulator NQR (also known as SDRE ? the State Dependent Riccati Equation). These together form the control between the equilibrium positions demonstrated on the double pendulum on a cart.
Czech name
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Czech description
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Type
J<sub>x</sub> - Unclassified - Peer-reviewed scientific article (Jimp, Jsc and Jost)
CEP classification
BC - Theory and management systems
OECD FORD branch
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Publication year
2013
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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