Partial state feedback sliding mode control for double-pendulum overhead cranes with unknown disturbances

In this paper, a novel sliding mode controller which requires partial state feedback is proposed for double-pendulum overhead cranes subject to unknown payload parameters and unknown external disturbances. Firstly, it is theoretically proved that the hook and payload tend to their respective equilibrium points concurrently. Secondly, a decoupling transformation is performed on the original nonlinear dynamics of double-pendulum overhead cranes. The novel sliding mode controller that does not require the prior information and motion signals of the payload is designed based on the decoupled nonlinear dynamics. Then, the asymptotic stability of the equilibrium point of double-pendulum overhead cranes is proved by rigorous analysis. Finally, several simulations are conducted to validate the effectiveness and robustness of the proposed controller.

Parametric stability of a double pendulum with variable length and with its center of mass in an elliptic orbit

<p style='text-indent:20px;'>We consider the planar double pendulum where its center of mass is attached in an elliptic orbit. We consider the case where the rods of the pendulum have variable length, varying according to the radius vector of the elliptic orbit. We make an Hamiltonian view of the problem, find four linearly stable equilibrium positions and construct the boundary curves of the stability/instability regions in the space of the parameters associated with the pendulum length and the eccentricity of the orbit.</p>

Online Trajectory Planning Method for Double-Pendulum Quadrotor Transportation Systems

This study investigates the trajectory planning problem for double-pendulum quadrotor transportation systems. The goal is to restrain the hook swing and payload swing while achieving precise positioning. An online trajectory planning method with two capabilities—precise positioning and swing suppression—is proposed. The stability and convergence of the system are proved using the Lyapunov principle and the LaSalle’s invariance theory. Simulation results show that the proposed method has excellent control performance.

White Noise Tests on the LSTM Model Trained with Double Pendulum

This paper describes the intrinsic qualities of a simple double pendulum (DP), with a visual representation, a rigorous deduction of the Lagrangian equation, and a concrete factor analysis. LSTM model was utilized to simulate the double pendulum’s periodic and chaotic behaviors and evaluates the effectiveness of the model. The auto-correlation coefficients was calculated. Meanwhile, Box-Pierce test and Ljung-Box tests for various state-dependent time series were conducted to give various initial conditions to explore the DP system’s random characteristics. The research results are as follows: 1) Chaos did not lead to direct randomness; 2) seasonality could coexist with chaos; 3) the highly auto-regressive nature of DP’s time series data are found. Therefore, it can be concluded that the chaos in a double pendulum has particular patterns (such as the positive relationship with the likelihood of being a random white noise series) that could be further explored.

Methodology of robust inverted pendulum controllers on a vehicle

In the theory of controllers, the simple and inverted pendulum play an important role due to the equations that result from them, which imply non-linearities and perturbations, thus, in this article, a brief classification of inverted pendulums is presented: inverted pendulum, inverted double pendulum, inverted rotary pendulum (Furuta pendulum). Subsequently, a mathematical model of the inverted pendulum is described through the deduction of the equations of motion that represent the dynamics of the system. Robust control is presented that allows expanding the richness of the mathematical equations, for this case, a control with output feedback is presented and applied to the inverted pendulum to control the unstable dynamics of this model. The results are compared with a post placement control and a robust control using a norm that analyses the characteristics of the system.