Dynamics Modeling of the Planar Double Inverted Pendulum

Hong Qi Wang

doi:10.4028/www.scientific.net/AMM.195-196.17

Paper Titles

Preface, Committee and Reviewers

Research on Welding Line Defect Recognition of the In-Service Pipeline Using X-Ray Detecting
p.5

Compact Design of an UWB Antenna with Dual Band-Notched Characteristic
p.13

Dynamics Modeling of the Planar Double Inverted Pendulum
p.17

Design of Wind Power Turbine's Main Components and Computation of its Output Power
p.23

Design and Fluent Simulation of Impeller for Axial Maglev Heart Pump
p.29

A Strength Training Machine Specific for Hamstrings: Injury Prevention and Rehabilitation
p.35

Influences of the Front Wheel Steering Angle on Vehicle Handling and Stability
p.41

Stability of Wind Power Turbines Magnetic Bearing
p.47

HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 195-196Dynamics Modeling of the Planar Double Inverted...

Dynamics Modeling of the Planar Double Inverted Pendulum

Abstract:

planar double inverted pendulum is a strong coupling, uncertain and complex nonlinear system, and the dynamics model of which is the basis of control, simulation and analysis. In the paper coordinate systems of the planar double inverted pendulum were first defined, and then the dynamics model of which was built up based on screw theory and the Lagrange principle. The modeling method used being systematic and standardized, it is easy to extend to dynamics modeling of higher order planar inverted pendulums or other multi-body systems.

You might also be interested in these eBooks

Mechanical Engineering and Intelligent Systems

View Preview

Info:

Periodical:

Applied Mechanics and Materials (Volumes 195-196)

Pages:

17-22

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.195-196.17

Citation:

Cite this paper

Online since:

August 2012

Authors:

Hong Qi Wang

Keywords:

Dynamics Model, Lagrange Principle, Planar Double Inverted Pendulum, Screw Theory

Export:

RIS, BibTeX

Price:

Permissions CCC:

Request Permissions

Permissions PLS:

Request Permissions

Сopyright:

Citation:

References

[1] Maeda K. Nonlinear Control System of Inverted Pendulum Based on Input-Output Linearization[D]. Binghamton University, (2006).

Google Scholar

[2] DUAN Xue-chao, CHOU Yuan-ying, DUAN Bao-yan. Adaptive sliding mode fuzzy control of planar inverted pendulum [J]. Control and Decision. 2007, 22(07): 774-777. (in Chinese).

Google Scholar

[3] LI Hong-xing. Four inverted pendulum variable universe adaptive fuzzy control. Science in China, Ser.E. 2002, 32(1): 65-75. (in Chinese).

Google Scholar

[4] FENG Yan-bin. Variable based on fuzzy inference modeling and adaptive fuzzy control of three planar inverted pendulum simulation and hardware implementation [D]. Beijing: Beijing Normal University, 2007. (in Chinese).

Google Scholar

[5] Murray R M, Li Z, Sastry S S, et al. A Mathematical Introduction to Robotic Manipulation[M]. Beijing: China Machine Press, 1998: 1-296.

Google Scholar

[6] Duan Xue-chao. Planar inverted pendulum modeling, control and experimental research[D]. Xi'an: Xi'an University of Electronic Science and Technology. 2006. (in Chinese) Appendix Parameter matrixes of the planar double inverted pendulum.

Google Scholar