Nonlinear generalized equations of motion for multi-link inverted pendulum systems

Khaled Gamal Eltohamy, Chen-Yuan Kuo

Research output: Contribution to journalArticle

14 Citations (Scopus)

Abstract

In this paper, the equations of motion for a general multi-link inverted pendulum system are derived. Assumptions previously employed to simplify such formulation are removed. The pendulum system is more general and includes nonlinear friction terms to suit various engineering applications. The generalized equations are first developed in the absolute coordinate system using Lagrange's technique, then a simple linear transformation is proposed to obtain the set of nonlinear equations in the Devanit-Hartenberg coordinate system. The equations of motion for double and triple link inverted pendulum systems are given as examples for such dynamics equations.

Original languageEnglish (US)
Pages (from-to)505-513
Number of pages9
JournalInternational Journal of Systems Science
Volume30
Issue number5
StatePublished - May 1999

Fingerprint

Inverted Pendulum
Pendulums
Generalized Equation
Equations of motion
Equations of Motion
Nonlinear Equations
Linear transformations
Pendulum
Linear transformation
Engineering Application
Dynamic Equation
Nonlinear equations
Lagrange
Friction
Simplify
Formulation
Term

ASJC Scopus subject areas

  • Computational Theory and Mathematics
  • Management Science and Operations Research
  • Control and Systems Engineering
  • Theoretical Computer Science

Cite this

Nonlinear generalized equations of motion for multi-link inverted pendulum systems. / Eltohamy, Khaled Gamal; Kuo, Chen-Yuan.

In: International Journal of Systems Science, Vol. 30, No. 5, 05.1999, p. 505-513.

Research output: Contribution to journalArticle

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