Study on Swing-up Control of Linear Spring-connected Double Inverted Pendulum

摘要：

This paper aims to study on swing-up control of linear spring-connected double inverted pendulum through establishing a mechanical model of the inverted pendulum with Dalembert Principle. Taking discrete control quantity as design variables and terminal constraint condition as objective function, swing-up control laws are computed by an optimization method. The results of simulating show that swing-up control of linear spring-connected double inverted pendulum is realized successfully by the optimization method and therefore illustrates that this method is effective and feasible.

关键词： Linear Spring-connected Inverted Pendulum Swing-up Control Optimization Simulating

作者: Xianglin Hou Ning Zhang Xijian Zheng Xinhe Xu

作者单位: School of Traffic & Mechanical Engineering, Shenyang Jianzhu University, Shenyang 110168 School of Civil Engineering, Shenyang Jianzhu University, Shenyang 110168 School of Traffic & Mechanical Engineering Shenyang Jianzhu University, Shenyang 110168 School of Information Science, Northeastern University, Shenyang 110004

会议类型: 国际会议

会议名称: The 22nd China Control and Decision Conference(2010年中国控制与决策会议)

会议地点: 徐州

会议语种:英文

页码: 2971-2974

在线出版日期: 2010-05-26（万方平台首次上网日期，不代表论文的发表时间）