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Combined Input Shaping and Feedback Control of a Double-Pendulum System Subject to External Disturbances

[+] Author Affiliations
Robert Mar, Anurag Goyal, Vinh Nguyen, Tianle Yang, William Singhose

Georgia Institute of Technology, Atlanta, GA

Paper No. DSCC2015-9849, pp. V001T03A005; 7 pages
  • ASME 2015 Dynamic Systems and Control Conference
  • Volume 1: Adaptive and Intelligent Systems Control; Advances in Control Design Methods; Advances in Non-Linear and Optimal Control; Advances in Robotics; Advances in Wind Energy Systems; Aerospace Applications; Aerospace Power Optimization; Assistive Robotics; Automotive 2: Hybrid Electric Vehicles; Automotive 3: Internal Combustion Engines; Automotive Engine Control; Battery Management; Bio Engineering Applications; Biomed and Neural Systems; Connected Vehicles; Control of Robotic Systems
  • Columbus, Ohio, USA, October 28–30, 2015
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5724-3
  • Copyright © 2015 by ASME


A control system combining input shaping and feedback is applied to a double-pendulum bridge crane subjected to external disturbances. The external disturbances represent naturally occurring forces, such as gusting winds. The proposed control method achieves fast point-to-point response similar to open-loop input-shaping control. It also minimizes transient deflections and disturbance-induced residual swing using the feedback control. Effects of parameters such as the mass ratio of the double-pendulum, suspension length ratio, and the traveled distance were studied via numerical simulation and hardware experiments. The controller effectively suppresses the disturbances and is robust to modeling uncertainties and task variations.

Copyright © 2015 by ASME
Topics: Feedback , Pendulums



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