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A further study of control for a pendulum-driven cart

Yu, Hongnian; Yang, Taicheng; Liu, Yang; Wane, Sam


Taicheng Yang

Yang Liu

Sam Wane


Recently, the control of a ‘pendulum-driven cart’has attracted some considerable research interest. One of the reasons is that the mechanism studied is very similar to that of an ‘actively-driven capsule robot’which is still under development and will have wide potential medical applications. In this paper, we study the pendulum-driven cart system from a control viewpoint, and use it as a benchmark to explore a new robust control approach which achieves better performance than those presented in a previous paper. The controller designed is also robust against uncertainties in plant parameters and very simple to implement. The extensive simulation studies and experimental results have demonstrated the proposed control approach.

Journal Article Type Article
Online Publication Date Oct 21, 2008
Publication Date 2008
Deposit Date Jun 18, 2022
Journal International Journal of Advanced Mechatronic Systems
Print ISSN 1756-8412
Electronic ISSN 1756-8420
Publisher Inderscience
Peer Reviewed Peer Reviewed
Volume 1
Issue 1
Pages 44
Keywords pendulum-driven cart, robust control, inverted pendulum, underactuated systems, propulsive mechanism, controller design, simulation
Public URL