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

Yu, H, Liu, Y and Yang, T (2008) Closed-loop tracking control of a pendulum-driven cart-pole underactuated system. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 222 (2). pp. 109-125. ISSN 0959-6518

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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.

Item Type: Article
Schools and Departments: School of Engineering and Informatics > Engineering and Design
Depositing User: Tai Yang
Date Deposited: 06 Feb 2012 19:26
Last Modified: 30 Mar 2012 08:59
URI: http://sro.sussex.ac.uk/id/eprint/20587
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