非線形ノーマルモードを利用した弱駆動二重振り子の振り上げ制御
Swing-Up of a Weakly Actuated Double Pendulum via Nonlinear Normal Modes
重力下の二重振り子の非線形ノーマルモードを同定し、弱い飽和アクチュエータでも効率的に振り上げる制御戦略を提案した。
著者: Arne Sachtler, Davide Calzolari, Maximilian Raff, Annika Schmidt, Yannik P. Wotte, Cosimo Della Santina, C. David Remy, Alin Albu-Schäffer
分類: eess.SY, cs.RO, cs.SY
原文アブストラクト
We identify the nonlinear normal modes spawning from the stable equilibrium of a double pendulum under gravity, and we establish their connection to homoclinic orbits through the unstable upright position as energy increases. This result is exploited to devise an efficient swing-up strategy for a double pendulum with weak, saturating actuators. Our approach involves stabilizing the system onto periodic orbits associated with the nonlinear modes while gradually injecting energy. Since these modes are autonomous system evolutions, the required control effort for stabilization is minimal. Even with actuator limitations of less than 1% of the maximum gravitational torque, the proposed method accomplishes the swing-up of the double pendulum by allowing sufficient time.
