Controllability of a planar inverted pendulum on a cart
M. Isabel Caiado
TL;DR
This paper proves the controllability of a planar double inverted pendulum on a cart using geometric control theory, demonstrating the system's ability to reach desired configurations through mathematical analysis.
Contribution
It introduces a controllability proof for a complex mechanical system using the Hermann-Nagano theorem, advancing control theory applications.
Findings
Controllability of the double inverted pendulum system established.
Application of Hermann-Nagano theorem to mechanical control systems.
Mathematical proof of system reachability.
Abstract
Using tools and techniques from geometric control theory, namely Hermann-Nagano theorem, we prove controllability result for a mechanical system consisting of a planar double inverted pendulum fixed to a wheeled cart that can move linearly along a horizontal track.
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Taxonomy
TopicsControl and Stability of Dynamical Systems · Dynamics and Control of Mechanical Systems · Adaptive Control of Nonlinear Systems