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

Yu, Hongnian, Liu, Yang and Yang, Tai (2007) Tracking control of a pendulum-driven cart-pole underactuated system. In: 2007. ISIC. IEEE International Conference on Systems, Man and Cybernetics., Montreal, QC, Canada.

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n 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.

Item Type: Conference or Workshop Item (Paper)
Additional Information: pages 2425-2430
Schools and Departments: School of Engineering and Informatics > Engineering and Design
Depositing User: Tai Yang
Date Deposited: 06 Feb 2012 21:26
Last Modified: 11 Apr 2012 08:47
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