Practical swing-up control system design of cart-type double inverted pendulum

被引：0

作者：

Inoue, Akira ^{[1
]}

Deng, Mingcong ^{[1
]}

Tanabe, Tomohiko ^{[1
]}

机构：

[1] Okayama Univ, Dept Syst Engn, 3-1-1 Tsushima Naka, Okayama, Japan

来源：

2006 CHINESE CONTROL CONFERENCE, VOLS 1-5 | 2006年

关键词：

cart-type double inverted pendulum; swing-up control; real-time experiment;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper describes an RTLinux-based swing-up control system design of a cart-type double inverted pendulum experimental setup. First, 4 steps control strategy for the inverted pendulum system is introduced. Second, for real-time application of the system, RTLinux-based control of first step and second step is mainly concerned, where the proposed control scheme swings up the first pendulum with controlling the motion of a cart and is robust to the second pendulum. Finally, real-time experiment is given to show the effectiveness of the control scheme.

引用

页码：1278 / +

页数：3

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