Stabilization of Unstable Periodic Motions in Parallel-Type Double Inverted Pendulum  

Oleh:

FUJIMOTO, Ken-ichi ; TANAKA, Yoshio ; KAWAKAMI, Hiroshi

Jenis: Article from Article
Dalam koleksi: Final Program and Book of Abstracts: The 4th Asian Control Conference, September 25-27, 2002 (Sep. 2002), page 567-571.
Topik: Stabilization; Periodic Motions; Parallel-Type; Double Inverted Pendulum
Fulltext: AC021334.PDF (801.58KB)

Isi artikel

In a parallel-type double inverted pendulum, to simultaneously stabilize two pendulums into the inverted position is very hard. In this paper we considered to stabilize unstable periodic motions of the pendulums around the inverted position. We proposed a control method to stabilize them. Using our method we also showed a result of numerical simulation, which unstable periodic motions of both pendulums are simultaneously stabilized.

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