An output regulation approach for swing-up and tracking control of double pendulum on a cart

It is well known that the control problem of the double pendulum on a cart (DPC) system is challenging since it is a complicated underactuated mechanical system with high nonlinearity. This paper first studies a swing-up and tracking control problem of the DPC system with time-varying reference sign...

Full description

Saved in:
Bibliographic Details
Published in2020 39th Chinese Control Conference (CCC) pp. 404 - 409
Main Authors Mengya, ZHOU, Zhaowu, PING, Yunzhi, HUANG, Jun-Guo, LU
Format Conference Proceeding
LanguageEnglish
Published Technical Committee on Control Theory, Chinese Association of Automation 01.07.2020
Subjects
Automation
Double pendulum on a cart
Eigenvalues and eigenfunctions
Nonlinear systems
output regulation
position tracking
Regulators
swing-up control
Switches
Time-varying systems
Online AccessGet full text

Cover

More Information
Summary:It is well known that the control problem of the double pendulum on a cart (DPC) system is challenging since it is a complicated underactuated mechanical system with high nonlinearity. This paper first studies a swing-up and tracking control problem of the DPC system with time-varying reference signal. A novel switched swing-up and tracking controller is proposed, which can be carried out in two steps. In step one, the energy-based swing-up controller is used to drive the double pendulum to the neighborhood of the up-up equilibrium point. In step two, based on approximate nonlinear output regulation theory, the polynomial approximation based tracking controller is used to achieve high precision position tracking control. Finally, the simulation results illustrate the effectiveness of our design.
ISSN:2161-2927
DOI:10.23919/CCC50068.2020.9189632