Swing-Up and Stabilization of the Double Furuta Pendulum
| dc.contributor.advisor | Levine, William S. | en_US |
| dc.contributor.author | Srinivas, Samvrit | en_US |
| dc.contributor.department | Systems Engineering | en_US |
| dc.contributor.publisher | Digital Repository at the University of Maryland | en_US |
| dc.contributor.publisher | University of Maryland (College Park, Md.) | en_US |
| dc.date.accessioned | 2018-09-12T05:45:51Z | |
| dc.date.available | 2018-09-12T05:45:51Z | |
| dc.date.issued | 2018 | en_US |
| dc.description.abstract | The problem of stabilization of an inverted pendulum is a common experiment in controls laboratories. The objective of the experiment is to balance a bar upright by providing appropriate motion to its base, similar to balancing a tennis racket upright on the palm of a human hand. The problem can be made more challenging by trying to balance two serially-joined bars instead of one. In this thesis, such a problem is considered. A mathematical model of the system is developed, and ideas of swing-up and stabilization of the two serial bars (mechanical links) are explored. A prototype is developed for validating the control system, and the details of the hardware design are discussed. | en_US |
| dc.identifier | https://doi.org/10.13016/M2TH8BR28 | |
| dc.identifier.uri | http://hdl.handle.net/1903/21255 | |
| dc.language.iso | en | en_US |
| dc.subject.pqcontrolled | Robotics | en_US |
| dc.subject.pquncontrolled | Controls | en_US |
| dc.title | Swing-Up and Stabilization of the Double Furuta Pendulum | en_US |
| dc.type | Thesis | en_US |