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Closed-loop tracking control of a pendulum-riven cart-pole underactuated system

Yu, H.; Liu, Y.; Yang, T.


Y. Liu

T. Yang


This paper investigates a new modelling and control issue: the tracking control problem of underactuated dynamic systems by using a special example – a pendulum-driven cart-pole system. A dynamic model of a pendulum-driven cart-pole system is firstly presented. Then, a six-step motion strategy of the pendulum-driven cart-pole system is proposed. After that, a desired profile of the pendulum joint velocity is developed based on the proposed six-step motion strategy. The desired joint position and acceleration can be computed using the desired joint velocity profile. A closed-loop control approach is proposed using the partial feedback linearization technique. Finally, extensive simulation studies are conducted to demonstrate the proposed approaches.

Journal Article Type Article
Online Publication Date Mar 18, 2008
Publication Date 2008-03
Deposit Date Jun 15, 2022
Journal Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering
Print ISSN 0959-6518
Electronic ISSN 2041-3041
Publisher SAGE Publications
Peer Reviewed Peer Reviewed
Volume 222
Issue 2
Pages 109-125
Keywords underactuated dynamic systems, tracking control, stabilization, inverted pendulum
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