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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

Presentation Conference Type Conference Paper (Published)
Conference Name 2007 IEEE International Conference on Systems, Man and Cybernetics
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