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Tracking control of a pendulum-driven cart-pole underactuated system
presentation
posted on 2023-06-08, 09:59 authored by Hongnian Yu, Yang Liu, Tai Yangn 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.
History
Publication status
- Published
External DOI
Presentation Type
- paper
Event name
2007. ISIC. IEEE International Conference on Systems, Man and Cybernetics.Event location
Montreal, QC, CanadaEvent type
conferenceISBN
9781424409914Department affiliated with
- Engineering and Design Publications
Notes
pages 2425-2430Full text available
- No
Peer reviewed?
- Yes