3 Results Found

The rotary double inverted pendulum system is characterized by one stable equilibrium point and three unstable equilibrium points due to its kinematic properties. This paper defines the transition control problem between these equilibrium points to e...

This paper proposes a transition control strategy for a rotary double-inverted pendulum (RDIP) system using a sim-to-real reinforcement learning (RL) controller, built upon mathematical modeling and parameter estimation. High-resolution sensor data a...

Underactuated systems, such as rotary and double inverted pendulums, challenge traditional control due to nonlinear dynamics and limited actuation. Classical methods like state-feedback and Linear Quadratic Regulators (LQRs) are commonly used but oft...