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Title:

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

Document type:
Konferenzbeitrag
Contribution type:
Textbeitrag / Aufsatz
Author(s):
Arne Sachtler, Davide Calzolari, Maximilian Raff, Annika Schmidt, Yannik P. Wotte, Cosimo Della Santina, C. David Remy, Alin Albu-Schäffer
Pages contribution:
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...     »
Editor:
IEEE
Book / Congress title:
European Control Conference (ECC) 2024
Edition:
22nd
Organization:
European Control Association (EUCA)
Date of congress:
June 2024
Date of publication:
24.07.2024
Year:
2024
Covered by:
Scopus
Print-ISBN:
979-8-3315-4092-0
E-ISBN:
978-3-9071-4410-7
Bookseries title:
Proceedings of the 22nd European Control Conference (ECC) 2024
Reviewed:
ja
Language:
en
Fulltext / DOI:
doi:10.23919/ECC64448.2024.10590854
WWW:
https://ieeexplore.ieee.org/document/10590854
TUM Institution:
TUM School of Computation, Information and Technology
Copyright statement:
©EUCA 2024. (European Control Association) ©IEEE 2024.
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