Control of a nonaffine double-pendulum system via dynamic inversion and time-scale separation

A new method is presented for control of nonaffine double pendulum system via dynamic inversion and time-scale separation. The control signal is defined as a solution of "fast" dynamics, and the coupled system is shown to be stable using the framework of Tikhonov's theorem from singular perturbations theory. Simulations illustrate the theoretical results

[1]  D. T. Greenwood.  Principles of dynamics , 1965 .

[2]  Mark W. Spong,et al.  The swing up control problem for the Acrobot , 1995 .

[3]  Mark W. Spong,et al.  Mechanical Design and Control of the Pendubot , 1995 .

[4]  Modeling and stability of a rotating double pendulum with cubic nonlinearities , 1995 .

[5]  Safaai Deris,et al.  Stabilization of inverted pendulum by the genetic algorithm , 1996, Proceedings of IEEE International Conference on Evolutionary Computation.

[6]  O.R. Gonzalez,et al.  Nonlinear control of swing-up inverted pendulum , 1996, Proceeding of the 1996 IEEE International Conference on Control Applications IEEE International Conference on Control Applications held together with IEEE International Symposium on Intelligent Contro.

[7]  Xuemei Li,et al.  Human simulating intelligent control and its application to swinging-up of cart-pendulum , 1997, Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI.

[8]  William Singhose,et al.  Double-pendulum gantry crane dynamics and control , 1998, Proceedings of the 1998 IEEE International Conference on Control Applications (Cat. No.98CH36104).

[10]  Katsuhisa Furuta,et al.  Control practice using pendulum , 1999, Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251).

[11]  Olav Egeland,et al.  Swinging up of non-affine in control pendulum , 1999, Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251).

[12]  Rogelio Lozano,et al.  Energy based control of the Pendubot , 2000, IEEE Trans. Autom. Control..

[13]  A. Avello,et al.  Swing-up control problem for a self-erecting double inverted pendulum , 2002 .

[14]  S. Shankar Sastry,et al.  Analysis and control of flapping flight: from biological to robotic insects , 2003 .

[15]  W. Sturgeon,et al.  PHYSICAL REASONS FOR THE UNCONTROLLABILITY OF A DOUBLE INVERTED PENDULUM , 2003 .

[16]  Yuxin Wang,et al.  Swinging-up and handstand-control of cart-double-pendulum system and experiment analysis , 2004, Fifth World Congress on Intelligent Control and Automation (IEEE Cat. No.04EX788).

[17]  Yi Jianqiang,et al.  Passivity-based-control for double-pendulum-type overhead cranes , 2004, 2004 IEEE Region 10 Conference TENCON 2004..

[18]  Lingji Chen,et al.  Adaptive Control Design for Nonaffine Models Arising in Flight Control , 2004 .

[19]  Kazuo Yoshida,et al.  Intelligent stabilization control to an arbitrary equilibrium point of double pendulum , 2004 .

[20]  E. Lavretsky,et al.  Dynamic inversion of multi-input nonaffine systems via time-scale separation , 2006, 2006 American Control Conference.