Swing‐up and fixed‐time stabilization control of underactuated cart‐double pendulum system

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‐doubl...

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Bibliographic Details
Published in:IET control theory & applications 2023-04, Vol.17 (6), p.662-671
Main Authors: Fan, Lu, Zhang, Ancai, Pan, Guangyuan, Du, Yingxue, Qiu, Jianlong
Format: Article
Language:English
Subjects:
Actuators
Control systems
Controllers
Degrees of freedom
Design
Energy consumption
Equilibrium
Mathematical models
Mechanical systems
Motion control
Pendulums
Stabilization
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Summary: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 fixed time. 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 fixed time. Finally, numerical examples verify the effectiveness of this presented control strategy.
ISSN:1751-8644
1751-8652
DOI:10.1049/cth2.12386