Vibration control of a double pendulum by a vertically movable pivot

摘要

For a double pendulum system whose pivot is vertically transferred, a stabilizing control method is proposed using a VSS sliding mode control technique using one switching function for the stabilization of the pendulum state (angle θ{sub}1 ,θ{sub}1, angle θ{sub}2,θ{sub}2), and another switching function concerned with the vertical motion (y, y) of the pivot necessary for the angle stabilization.