Side-Stepping of the Triple Pendulum on a Cart

[becomepostal]

very impressive!

[omjeh]

how many sensor that is used in the system? is there any sensor for angular position in the second and third pendulum?

[jfdowd]

So it appears to me that the nonlinear model provides smoother transitions in the first case, but the linearized model does so in all other cases. Is there a precise sense in which this is true? Or is it not true?

[Doppelkeks1980]

@jfdowd This non-smooth transient behavior of the nonlinear trajectories is founded in the design methodology. We somehow restrict the solution space by setup functions with free parameters. Due to this it may happen that the restriction provides a somehow choppy trajectory. A pure energy based design methodology would certainly provide more natural or intuitive trajectories.

[coryakramer]

It looks like you're using LabVIEW, is that right?

[Doppelkeks1980]

@coryakramer No, we used dSPACE.

[mirfeuss]

very impressive

[afdeqa]

Awesome! How about the quadruple pendulum?

[tikeyknax]

very impressing. How long does it take to go from the right position to the left one? And is there a difference for the control based on the nonlinear / linearized model?

[Doppelkeks1980]

@tikeyknax That certainly depends on the transition. The transition times are in total between 2.2 and 2.9 seconds. And indeed, with the nonlinear design method one ends up with shorter transition times.