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Computational Methods in Systems and Control Theory

MPI Project

Control and Stabilization of multiple pendulums

Project director: Researcher: Duration: since 2012

Project description:
Multiple pendulum systems are illustrative but at the same time challenging academic examples for applied control theory. Using the HASOMED triple pendulum, which is installed in the Foyer of the MPI, different strategies for the stabilization and trajectory tracking of single, double, and triple pendulums are implemented and investigated. Especially the so called two-degree of freedom control design (feedforward and feedback control) is used, e.g., for achieving the following goals:
  • Swing up from the stable bottom to the unstable top equilibrium position,
  • transition to the other different equilibrium positions, as well as
  • side-stepping of one (instable) equilibrium.
The videos below show some successful experiments with this control strategies.
Swing up, side-stepping and subsequent swing down of the double pendulum. Stabilization and side-stepping of the inverse triple pendulum in the top instable equilibrium.
Stabilization of the triple pendulum in the equilibrium points up-down-up and up-up-down.

©2018, Max Planck Society, Munich
Patrick Kürschner, kuerschner@mpi-magdeburg.mpg.de
16 November 2015