期刊
AUTOMATICA
卷 43, 期 1, 页码 63-71出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.automatica.2006.07.023
关键词
double pendulum swing-up; nonlinear feedforward control; boundary value problem; input-output normal form; linear feedback control; experiment
The swing-up maneuver of the double pendulum on a cart serves to demonstrate a new approach of inversion-based feedforward control design introduced recently. The concept treats the transition task as a nonlinear two-point boundary value problem of the internal dynamics by providing free parameters in the desired output trajectory for the cart position. A feedback control is designed with linear methods to stabilize the swing-up maneuver. The emphasis of the paper is on the experimental realization of the double pendulum swing-up, which reveals the accuracy of the feedforward/feedback control scheme. (c) 2006 Elsevier Ltd. All rights reserved.
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