C37 Swing-up Control of Multiple-Parallel Inverted Pendulum System by Using Nonlinear Resonance

Abstract

Generally, we have a problem that the control inputs to stabilize pendulums and to swing up a pendulum interfere, when we swing up pendulums one by one in a multiple inverted pendulum system. To solve this problem, we proposed the subspace control for stabilizing the system and the method to swing up a pendulum by nonlinear resonance based on Jacobian elliptic function. In this report, we apply these methods to a parallel triple inverted pendulum system and verify the effectiveness of the methods by numerical simulation and experiments.