On tracking control of a pendulum-driven cart-pole underactuated system

Liu, Yang, Yu, Hongian, Wane, Sam and Yang, Taicheng (2008) On tracking control of a pendulum-driven cart-pole underactuated system. International Journal of Modelling, Identification and Control, 4 (4). pp. 357-372. ISSN 1746-6180

Full text not available from this repository.


In this paper, we address the trajectory tracking issue of underactuated dynamic systems using a special example a pendulum-driven cart-pole system. We first develop the dynamic model of the pendulum-driven cart-pole system. To drive the cart in a desired direction, we propose a six-step motion strategy and an optimal selection of the parameters of the six-step strategy profile. To track the desired profile, we study two control algorithms: open-loop control and closed-loop control. Later on, based on these two algorithms, we propose a new control algorithm called simple switch control which aims to overcome the issues in real experiment. Robustness of the proposed algorithms is studied by putting uncertainties on system parameters. Finally, extensive simulation studies are conducted to demonstrate the proposed algorithms.

Item Type: Article
Schools and Departments: School of Engineering and Informatics > Engineering and Design
Depositing User: Tai Yang
Date Deposited: 06 Feb 2012 19:50
Last Modified: 30 Mar 2012 11:18
URI: http://sro.sussex.ac.uk/id/eprint/22468
📧 Request an update