Transition Control of a Rotary Double Inverted Pendulum Using Direct Collocation
The rotary double inverted pendulum system is characterized by one stable equilibrium point and three unstable equilibrium points due to its kinematic properties. This paper defines the transition control problem between these equilibrium points to extend the conventional swing-up control problem an...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2025-02-01
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| Series: | Mathematics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2227-7390/13/4/640 |
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