DESCRIPTION OF THE PROJECT |
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| Consider the double inverted pendulum shown in
the figure. It has a double pendulum mounted on a cart. The cart is driven on a rail track
by an actuator. This system has 3 degrees of freedom (dof) from which only the x dof is
actuated. No torque can be applied in the other two dofs, which are passive joints. Only the bidimensional problem is considered, as the pendulum moves itself on the vertical plane. The double pendulum is unstable in the sense that it will fall down unless the required control force is applied.
Figura 1: Double inverted pendulum mounted on a cart The objective of this project is to build the double inverted pendulum mechanism and solve the swing-up control problem. This problem consists in taking the double pendulum from its bottom stable position to its inverted position. Not only the double pendulum has to be taken to its upright position but also the position of the cart must be the reference position x=0. The inverted position has to be mantained in the presence of external disturbances. |
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