%0 Journal Article
%T Swing-up controller design for cart-type double inverted pendulum<br>小车二级摆摆起控制器设计
%A INOUE Akir
%A DENG Ming-cong
%A HENMI Tomohiro
%A UEKI Nobuyuki
%A HIRASHIMA Yoichi
%A <br>INOUE Akir
%A DENG Ming-cong
%A HENMI Tomohiro
%A UEKI Nobuyuki
%A HIRASHIMA Yoichi
%J 控制理论与应用
%D 2004
%I 
%X This paper presents experimental results of swing-up controller designs for a parallel cart-type double inverted pendulum and a serial cart-type double inverted pendulum.The proposed control scheme for the two kinds of cart-type double inverted pendulum involves two steps:1) to swing up the two pendulums,2) to stabilize the two pendulums around the unstable equilibrium state.Since the pendulums are cart-type,this paper gives an analysis of traveling distance of the cart and the proposed controller also includes a controller to restrict the traveling distance of the cart.Experiments presented include the above two steps for each cart-type double inverted pendulum.
%K parallel (serial) cart-type double inverted pendulum system
%K swing-up control
%K distance control of cart<br>小车二级并行(串行)摆系统
%K 摆起控制
%K 小车位移控制
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=970898A57DFC021F93AB51667BAED7F7&aid=16C321CE0774C177524E467EC3CADB36&yid=D0E58B75BFD8E51C&vid=659D3B06EBF534A7&iid=94C357A881DFC066&sid=6452E1221020E61F&eid=27350781F1397F32&journal_id=1000-8152&journal_name=控制理论与应用&referenced_num=2&reference_num=15