Tracking control of a pendulum-driven cart-pole underactuated system

Yu, Hongnian; Liu, Yang; Yang, Tai

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, October). Tracking control of a pendulum-driven cart-pole underactuated system. Presented at 2007 IEEE International Conference on Systems, Man and Cybernetics, Montreal, QC, Canada

• 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