Masafumi Iwashiro

Energy Based Strategies for Swinging up a Double Pendulum

Abstract This paper presents a control algorithm of swinging up a double pendulum from hanging to the upright position based on the energy. The control law is actually applied to the TITech type rotating pendulum. The double pendulums are swung up to the upright position by pumping the energy. The lower pendulum is kept in the neighborhood of the upright position, and the upper pendulum is rotated one and half before reaching to the upright position. For the rotation, the other kind of control law to make the upper pendulum rotate is used. Near the upright position, the double pendulum is kept stabilized. The algorithm is a actually implemented in the experimental apparatus.

Stabilization of a Limit Cycle in Titech Double Pendulum

Abstract In this paper we discuss an existence of a limit cycle in the TITech double pendulum, and also discuss how to stabilize the limit cycle and how to use the limit cycle to transfer the state. Experimental results will show that the proposed methods are effective for an actual implementation. The system will be a good laboratory experimental system for several control methods including the stabilization of the limit cycle.