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Titel:

Swing-Up of a Weakly Actuated Double Pendulum via Nonlinear Normal Modes

Dokumenttyp:
Konferenzbeitrag
Art des Konferenzbeitrags:
Textbeitrag / Aufsatz
Autor(en):
Arne Sachtler, Davide Calzolari, Maximilian Raff, Annika Schmidt, Yannik P. Wotte, Cosimo Della Santina, C. David Remy, Alin Albu-Schäffer
Seitenangaben Beitrag:
2392-2398
Abstract:
We identify the nonlinear normal modes spawning from the stable equilibrium of a double pendulum under gravity, and we establish their connection to homoclinic orbits through the unstable upright position as energy increases. This result is exploited to devise an efficient swing-up strategy for a double pendulum with weak, saturating actuators. Our approach involves stabilizing the system onto periodic orbits associated with the nonlinear modes while gradually injecting energy. Since these modes...     »
Herausgeber:
IEEE
Kongress- / Buchtitel:
European Control Conference (ECC) 2024
Ausgabe:
22nd
Ausrichter der Konferenz:
European Control Association (EUCA)
Datum der Konferenz:
June 2024
Publikationsdatum:
24.07.2024
Jahr:
2024
Nachgewiesen in:
Scopus
Print-ISBN:
979-8-3315-4092-0
E-ISBN:
978-3-9071-4410-7
Serientitel:
Proceedings of the 22nd European Control Conference (ECC) 2024
Reviewed:
ja
Sprache:
en
Volltext / DOI:
doi:10.23919/ECC64448.2024.10590854
WWW:
https://ieeexplore.ieee.org/document/10590854
TUM Einrichtung:
TUM School of Computation, Information and Technology
Copyright Informationen:
©EUCA 2024. (European Control Association) ©IEEE 2024.
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