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DINAME2019
DINAME2019
Modeling of a double pendulum on a cart using the Gibbs-Appell method and implementing LQR control
Submission Author:
Ivan Fischman Ekman Simões , SP
Co-Authors:
Ivan Fischman Ekman Simões, Flavius Martins, Tarcisio Antonio Hess Coelho, Roberto Spinola Barbosa
Presenter: Ivan Fischman Ekman Simões
doi://10.26678/ABCM.DINAME2019.DIN2019-0061
Abstract
The aim is to demonstrate the usefulness of the Gibbs-Appell method for modeling serial mechanisms and robots. Gibbs-Appell equations of motion are used to model a double pendulum on a cart; the model is validated through a series of simulations. An inverse dynamics exercise is presented to illustrate the power of feed-forward based on the dynamics of the system. Finally, LQR is proposed to control the double inverted pendulum.
Keywords
Gibbs-Appell, LQR Control, Feed-Forward, Dynamic modeling;, Planar Mechanism
