An experiment with swinging up a double pendulum using feedback control

DOI10.1134/S1064230712020037MaRDI QIDQ2263404zbMATH OpenOpenAlexFDO

Authors Grzegorz Kudra, Jan Awrejcewicz, Grzegorz Wasilewski, S. A. Reshmin

Publication date 18 March 2015

Published in Journal of Computer and Systems Sciences International (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1134/s1064230712020037

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Feedback control (93B52) Control/observation systems governed by partial differential equations (93C20)

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Cites work

• Control synthesis in a nonlinear dynamical system
• Decomposition and suboptimal control in dynamical systems
• Decomposition method in the problem of controlling an inverted double pendulum with the use of one control moment
• Energy based control of the Pendubot
• Experimental and numerical investigation of chaotic regions in the triple physical pendulum
• Investigation of the dynamics of a double pendulum with following and conservative forces
• On stabilization of an inverted double pendulum with one control torque
• Pendubot: combining of energy and intuitive approaches to swing up, stabilization in erected pose
• Stabilization of unstable equilibrium postures of a two-link pendulum using a flywheel
• Stabilization of unstable mechanical systems
• Stabilizing equilibrium states of double pendulum loaded by follower and concervative forces
• The decomposition method for a control problem for an underactuated Lagrangian system
• Two approaches to controlling a mechanical system with unknown parameters

Cited in

(7)

• Swing-up of the double pendulum on a cart by feedforward and feedback control with experimental validation
• Motion controller design of wheeled inverted pendulum with an input delay via optimal control theory
• Lyapunov functions for almost sure exponential stability
• Adaptive PID-tracking control of muscle-like actuated compliant robotic systems with input constraints
• Computational Approach for Complete Lyapunov Functions
• Decomposition method in the problem of controlling an inverted double pendulum with the use of one control moment
• Optimal synthesis in the control problem of an \(n\)-link inverted pendulum with a moving base

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