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Double Inverted Pendulum Control Methods

This document provides an introduction to an integral type-2 fuzzy logic type double inverted pendulum. It defines an inverted pendulum as a pendulum with its mass above its pivot point. A double inverted pendulum combines an inverted pendulum with a double pendulum, making it inherently unstable and requiring active balancing. The document explains that a double inverted pendulum can be controlled by moving its base or applying torque between the two pendulums. It includes a figure showing the systemic diagram of a double inverted pendulum.

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Ankit Agrawal
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52 views2 pages

Double Inverted Pendulum Control Methods

This document provides an introduction to an integral type-2 fuzzy logic type double inverted pendulum. It defines an inverted pendulum as a pendulum with its mass above its pivot point. A double inverted pendulum combines an inverted pendulum with a double pendulum, making it inherently unstable and requiring active balancing. The document explains that a double inverted pendulum can be controlled by moving its base or applying torque between the two pendulums. It includes a figure showing the systemic diagram of a double inverted pendulum.

Uploaded by

Ankit Agrawal
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd

Chapter 1

1. INTEGRAL TYPE -2 FUZZY LOGIC TYPE DOUBLE INVERTED PENDULUM:1.1 INTRODUCTION:-An inverted pendulum is a pendulum which has its mass above its pivot point. It is often implemented with the pivot point mounted on a cart that can move horizontally and may be called a cart and pole. Most applications limit the pendulum to 1 degree of freedom by affixing the pole to an axis of rotation. Whereas a normal pendulum is stable when hanging downwards, an inverted pendulum is inherently unstable, and must be actively balanced in order to remain upright; this can be done either by applying a torque at the pivot point, by moving the pivot point horizontally as part of a feedback system, changing the rate of rotation of a mass mounted on the pendulum on an axis parallel to the pivot axis and thereby generating a net torque on the pendulum, or by oscillating the pivot point vertically. A simple demonstration moving the pivot point in a feedback system is achieved by balancing an upturned broomstick on the end of one's finger. A second type of inverted pendulum is a tilt meter for tall structures which consists of a wire anchored to the bottom of the foundation and attached to a float in a pool of oil at the top of the structure which has devices for measuring movement of the neutral position of the float away from its original position. A double inverted pendulum is combination of the inverted pendulum and the double pendulum. The double inverted pendulum is unstable, meaning that it will fall down unless it is controlled in some way. The two main methods of controlling a double inverted pendulum are moving the base, as with the inverted pendulum, or by applying a torque at the pivot point between the two pendulums. The systemic diagram of double inverted pendulum is shown in the fig 1

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