Papers Papers/2022 Papers Papers/2022

Research.Publish.Connect.

Paper

Authors: Doyoon Ju ; Taegun Lee and Young Sam Lee

Affiliation: Department of Electrical and Computer Engineering, Inha University, Incheon, Korea

Keyword(s): Rotary Double Inverted Pendulum, Transition Control, Direct Collocation, Optimal Control.

Abstract: The rotary double inverted pendulum system has one stable and three unstable equilibrium points due to its kinematic properties. This paper extends the traditional swing-up control problem by defining a novel transition control problem among these points. We formulate the system’s dynamic equations and boundary conditions for different equilibrium points to minimize energy consumption during transitions, resulting in a two-point boundary value optimal control problem. This problem is solved offline to calculate the feedforward trajectory for feedforward control. To convert the continuous optimal control problem with constraints into a nonlinear optimization problem, we employ the direct collocation method. A time-varying Linear Quadratic controller is used as the feedback controller to accurately track the generated feedforward path during real-time control, compensating for uncertainties. Previous studies on rotary double inverted pendulums have focused on the swing-up problem, with no research addressing transition control between the four equilibrium points. This paper defines the transition control problem for the rotary double inverted pendulum and proposes a control strategy. The method’s effectiveness and practicality were validated through the design and implementation of 12 transition trajectories in experimental settings, successfully demonstrating its feasibility and utility. (More)

CC BY-NC-ND 4.0

Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 18.221.52.104

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
Ju, D., Lee, T. and Sam Lee, Y. (2024). Implementation of 12 Transition Controls for Rotary Double Inverted Pendulum Using Direct Collocation. In Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-717-7; ISSN 2184-2809, SciTePress, pages 92-100. DOI: 10.5220/0012994200003822

@conference{icinco24,
author={Doyoon Ju and Taegun Lee and Young {Sam Lee}},
title={Implementation of 12 Transition Controls for Rotary Double Inverted Pendulum Using Direct Collocation},
booktitle={Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2024},
pages={92-100},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012994200003822},
isbn={978-989-758-717-7},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Implementation of 12 Transition Controls for Rotary Double Inverted Pendulum Using Direct Collocation
SN - 978-989-758-717-7
IS - 2184-2809
AU - Ju, D.
AU - Lee, T.
AU - Sam Lee, Y.
PY - 2024
SP - 92
EP - 100
DO - 10.5220/0012994200003822
PB - SciTePress