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MPI Project
Control and Stabilization of multiple pendulums
Project director:
Prof. Dr. Peter Benner
Max Planck Institut for Dynamics Complex Technical Systems Magdeburg,
Computational Methods in Systems and Control Theory,
Sandtorstr. 1, 39106 Magdeburg, Germany
Tel: +49 (0)391-6110-450
E-mail: benner@mpi-magdeburg.mpg.de
Researcher:
Patrick Kürschner
Max Planck Institut for Dynamics Complex Technical Systems Magdeburg,
Computational Methods in Systems and Control Theory,
Sandtorstr. 1, 39106 Magdeburg, Germany
Tel: +49 (0)391-6110-424
E-mail: kuerschner@mpi-magdeburg.mpg.de
Christian Miller
FH Kempten
E-mail: miller@mpi-magdeburg.mpg.de
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.
