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

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

Abstract

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.

Citation

Yu, H., Liu, Y., & Yang, T. (2008). Closed-loop tracking control of a pendulum-riven cart-pole underactuated system. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 222(2), 109-125. https://doi.org/10.1243/09596518jsce460

• 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
• DOI: https://doi.org/10.1243/09596518jsce460
• Keywords: underactuated dynamic systems, tracking control, stabilization, inverted pendulum
• Public URL: http://researchrepository.napier.ac.uk/Output/2879308