Name
Title | ||
|---|---|---|
On the design of stable periodic orbits of a triple pendulum on a cart with experimental validation |
Abstract | ||
|---|---|---|
In this paper, we enhance an inversion-based control approach towards the stabilization of a periodic orbit of a multi-link triple pendulum on a cart. To this end, a nominal trajectory is obtained by formulating the considered transition problem as a two-point boundary value problem (BVP) in input–output representation. For solvability of the resulting BVP, a setup function is introduced such that additional parameters are provided in the differential equation of the internal dynamics. Based on the linearized dynamics about the nominal trajectory, a linear-quadratic-Gaussian (LQG) controller is implemented to compensate for measurement noise, model uncertainties, and external disturbances. This way we achieve to force a triple pendulum to move along a non-trivial periodic orbit and render it attractive. The high performance and accuracy of our approach is illustrated on an experimental setup. |
Year | DOI | Venue |
|---|---|---|
2021 | 10.1016/j.automatica.2020.109403 | Automatica |
Keywords | DocType | Volume |
Triple pendulum,Periodic orbit,Two-degree-of-freedom control,Inversion-based feedforward control design | Journal | 125 |
Issue | ISSN | Citations |
1 | 0005-1098 | 0 |
PageRank | References | Authors |
0.34 | 0 | 3 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Benjamin Jahn | 1 | 0 | 0.34 |
| Lars Watermann | 2 | 0 | 0.34 |
| Johann Reger | 3 | 40 | 17.29 |