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

journal contribution
posted on 2023-06-08, 00:12 authored by Yang Liu, Hongian Yu, Sam Wane, Tai Yang
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.

History

Publication status

  • Published

Journal

International Journal of Modelling, Identification and Control

ISSN

1746-6180

Issue

4

Volume

4

Page range

357-372

Department affiliated with

  • Engineering and Design Publications

Full text available

  • No

Peer reviewed?

  • Yes

Legacy Posted Date

2012-02-06

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