A cart-double pendulum system is an underactuated mechanical system that has three degrees of freedom (DOF) and has two actuators. This paper discusses the stabilizing control problem for this non-linear mechanical sy...
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A cart-double pendulum system is an underactuated mechanical system that has three degrees of freedom (DOF) and has two actuators. This paper discusses the stabilizing control problem for this non-linear mechanical system. First, an input relationship is constructed to transform the 3-DOF cart-double pendulum system into a 2-DOF reduced-order system in a fixedtime. Second, a swing-up controller is designed for the reduced-order system to make the system infinitely approach upright equilibrium point. After that, the swing-up controller switches to a fixed-time balance stabilization controller, which stabilizes the cart-double pendulum at the upright equilibrium point in a fixedtime. Finally, numerical examples verify the effectiveness of this presented control strategy.
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