Swing-up control of a rotational double inverted pendulum using entrainment

摘要

Periodic stimulation sometimes stabilizes mechanical systems dynamically. we have investigated a swing-up control of an inverted pendulum from a view point of such a dynamic stabilization. First, we analyze the timing of the periodic input in which the pendulum is excited. Next, we propose the control method using a entrainment so that the periodic input is synchronized with the swing of the pendulum. The control input is consisted of a periodic solution of van der Pol's equation which is inputted the angular verocity of the pendulum. Finally we present experimental results that our controller can realize the selective swing-up control for a rotational double pendulum.