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

• Published in: 2020 39th Chinese Control Conference (CCC) pp. 404 - 409
• Main Authors: Mengya, ZHOU, Zhaowu, PING, Yunzhi, HUANG, Jun-Guo, LU
• Format: Conference Proceeding
• Language: English
• 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

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...