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

This source preferred by Hongnian Yu

This data was imported from DBLP:

Authors: Yu, H., Liu, Y. and Yang, T.

Journal: SMC

Pages: 2425-2430

Publisher: IEEE

ISBN: 978-1-4244-0990-7

This data was imported from Scopus:

Authors: Yu, H., Liu, Y. and Yang, T.

Journal: Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics

Pages: 2425-2430

ISBN: 9781424409914

ISSN: 1062-922X

DOI: 10.1109/ICSMC.2007.4413859

In this paper, we use an example - a pendulum-driven cart-pole system studied in [1] 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. ©2007 IEEE.

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