Swing-up controller design for cart-type double inverted pendulum
Abstract：This paper presents experimental results of swing-up controller designs for a parallel cart-type double inverted pendulum and a serial cart-type double inverted pendulum. The proposed control scheme for the two kinds of cart-type double inverted pendulum involves two steps: 1 ) to swing up the two pendulums, 2) to stabilize the two pendulums around the unstable equilibriurm state. Since the pendulums are cart-type, this paper gives an analysis of traveling distance of the cart and the proposed controller also includes a controller to restrict the traveling distance of the cart. Experiments presented include the above two steps for each cart-type double inverted pendulum.
Keywords：parallel (serial) cart-type double inverted pendulum systemswing-up controldistance control of cart
Publication Date：2004-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：8( 709-716 )