Research
Simulating the Birdas Leg as a Double Inverted Pendulum
The double inverted pendulum is a system which is non-linear, unstable with fast reaction. Stabilising a double inverted pendulum means the pendulum is not oscillating and moving and there is no force on it. In this paper the leg of a birdis t modelled as a double inverted pendulum and thenattempt to control it. The Linear Quadratic Regulator is used to control the system. Modelling of thenonlinear dynamic equations is obtained with the help of Euler-Lagrange equation and linearizationis done using the Jacobian matrix.Simulations are done with the help of Matlab which shows that the bird’s leg can be stabilise if they are double inverted pendulums. Future use of the results is to be used for the design of a landing gear based on the principles of a bird’s leg.
