Title: Swing-up design of double inverted pendulum by using passive control method based on operator theory

Authors: Ni Bu; Xiaoguang Wang

Addresses: College of Automation and Electronic Engineering, Qingdao University of Science and Technology, Qingdao 266061, China ' College of Automation and Electronic Engineering, Qingdao University of Science and Technology, Qingdao 266061, China

Abstract: For the double inverted pendulum system with limited guide rails, a self-starting pendulum control scheme by combining the passivity-based control (PBC) and operator-based robust right coprime factorisation (ORRCF) method is proposed. A three-step hierarchical swing control scheme is designed, and the control method of each step and the switching rules between each step are given. The passivity and robustness of the system are improved by the control scheme of PBC combined with ORRCF method, and the entire self-lifting and stabilisation process is controlled. The influence of external disturbance during the switching process of the swing control and the state change of the pendulum rod on the displacement of the car is overcome. The effectiveness of the control scheme has been verified by the simulation results.

Keywords: passivity-based control; robust right coprime factorisation; operator theory; double inverted pendulum; swing-up control.

DOI: 10.1504/IJAMECHS.2023.128154

International Journal of Advanced Mechatronic Systems, 2023 Vol.10 No.1, pp.1 - 7

Received: 13 Jan 2022
Accepted: 14 Mar 2022
Published online: 09 Jan 2023 *