Dr Hongnian Yu H.Yu@napier.ac.uk
Professor
Tracking control of a pendulum-driven cart-pole underactuated system
Yu, Hongnian; Liu, Yang; Yang, Tai
Authors
Yang Liu
Tai Yang
Abstract
In this paper, we use an example - a pendulum-driven cart-pole system studied in Li et al. (2005) to investigate the tracking control of underactuated dynamic systems. In this paper, we propose a six-step motion strategy of the pendulum driven cart-pole system. We design a desired profile of the pendulum joint velocity based on the proposed six-step motion strategy. Based on the desired joint velocity profile, we can compute the desired joint position and acceleration. The desired joint trajectories will be used in the proposed control approach. We also propose a closed-loop control approach using the partial feedback linearization technique. Extensive simulation studies are conducted to demonstrate the proposed approaches.
Citation
Yu, H., Liu, Y., & Yang, T. (2007). Tracking control of a pendulum-driven cart-pole underactuated system. In 2007 IEEE International Conference on Systems, Man and Cybernetics. https://doi.org/10.1109/icsmc.2007.4413859
Conference Name | 2007 IEEE International Conference on Systems, Man and Cybernetics |
---|---|
Conference Location | Montreal, QC, Canada |
Start Date | Oct 7, 2007 |
End Date | Oct 10, 2007 |
Publication Date | 2007 |
Deposit Date | Jun 15, 2022 |
Publisher | Institute of Electrical and Electronics Engineers |
Series ISSN | 1062-922X |
Book Title | 2007 IEEE International Conference on Systems, Man and Cybernetics |
ISBN | 978-1-4244-0990-7 |
DOI | https://doi.org/10.1109/icsmc.2007.4413859 |
Public URL | http://researchrepository.napier.ac.uk/Output/2879358 |
You might also like
DMF-Net: A Dual-Encoding Multi-Scale Fusion Network for Pavement Crack Detection
(2023)
Journal Article
Downloadable Citations
About Edinburgh Napier Research Repository
Administrator e-mail: repository@napier.ac.uk
This application uses the following open-source libraries:
SheetJS Community Edition
Apache License Version 2.0 (http://www.apache.org/licenses/)
PDF.js
Apache License Version 2.0 (http://www.apache.org/licenses/)
Font Awesome
SIL OFL 1.1 (http://scripts.sil.org/OFL)
MIT License (http://opensource.org/licenses/mit-license.html)
CC BY 3.0 ( http://creativecommons.org/licenses/by/3.0/)
Powered by Worktribe © 2024
Advanced Search