Swing-up Control of a Parallel Double Inverted Pendulums with Cart Position Control

Abstract

This paper proposes a design method of a controller to swing up the parallel double inverted pendulums simultaneously. The method is based on the energy control by using a Lyapunov function. Close to the upright point, the unstable mode in the homoclinic orbit is avoided by using switching control. Meanwhile, we propose an additional controller to restrict the cart travel while controlling the two pendulums. The present method is examined by an experiment using a parallel double inverted pendulums system.