Closed-loop tracking control of a pendulum-driven cart-pole underactuated system

Hongnian Yu, Yang Liu (Corresponding Author), Taicheng Yang

Research output: Contribution to journalArticle

37 Citations (Scopus)

Abstract

This paper investigates a new modelling and control issue: the tracking control
problem of underactuated dynamic systems by using a special example – a pendulum-driven cart-pole system. A dynamic model of a pendulum-driven cart-pole system is firstly presented. Then, a six-step motion strategy of the pendulum-driven cart-pole system is proposed. After that, a desired profile of the pendulum joint velocity is developed based on the proposed sixstep motion strategy. The desired joint position and acceleration can be computed using the desired joint velocity profile. A closed-loop control approach is proposed using the partial feedback linearization technique. Finally, extensive simulation studies are conducted to demonstrate the proposed approaches.
Original languageEnglish
Pages (from-to)109-125
Number of pages17
JournalProceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering
Volume222
Issue number2
DOIs
Publication statusPublished - 1 Mar 2008

Fingerprint

Pendulums
Poles
Feedback linearization
Dynamic models
Dynamical systems

Keywords

  • underactuated dynamic systems
  • tracking control
  • stabilization
  • inverted pendulum

Cite this

Closed-loop tracking control of a pendulum-driven cart-pole underactuated system. / Yu, Hongnian; Liu, Yang (Corresponding Author); Yang, Taicheng.

In: Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, Vol. 222, No. 2, 01.03.2008, p. 109-125.

Research output: Contribution to journalArticle

@article{9155b9f94b8f4396997951508441f630,
title = "Closed-loop tracking control of a pendulum-driven cart-pole underactuated system",
abstract = "This paper investigates a new modelling and control issue: the tracking control problem of underactuated dynamic systems by using a special example – a pendulum-driven cart-pole system. A dynamic model of a pendulum-driven cart-pole system is firstly presented. Then, a six-step motion strategy of the pendulum-driven cart-pole system is proposed. After that, a desired profile of the pendulum joint velocity is developed based on the proposed sixstep motion strategy. The desired joint position and acceleration can be computed using the desired joint velocity profile. A closed-loop control approach is proposed using the partial feedback linearization technique. Finally, extensive simulation studies are conducted to demonstrate the proposed approaches.",
keywords = "underactuated dynamic systems, tracking control, stabilization, inverted pendulum",
author = "Hongnian Yu and Yang Liu and Taicheng Yang",
year = "2008",
month = "3",
day = "1",
doi = "10.1243/09596518JSCE460",
language = "English",
volume = "222",
pages = "109--125",
journal = "Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering",
issn = "0959-6518",
publisher = "SAGE Publications Ltd",
number = "2",

}

TY - JOUR

T1 - Closed-loop tracking control of a pendulum-driven cart-pole underactuated system

AU - Yu, Hongnian

AU - Liu, Yang

AU - Yang, Taicheng

PY - 2008/3/1

Y1 - 2008/3/1

N2 - This paper investigates a new modelling and control issue: the tracking control problem of underactuated dynamic systems by using a special example – a pendulum-driven cart-pole system. A dynamic model of a pendulum-driven cart-pole system is firstly presented. Then, a six-step motion strategy of the pendulum-driven cart-pole system is proposed. After that, a desired profile of the pendulum joint velocity is developed based on the proposed sixstep motion strategy. The desired joint position and acceleration can be computed using the desired joint velocity profile. A closed-loop control approach is proposed using the partial feedback linearization technique. Finally, extensive simulation studies are conducted to demonstrate the proposed approaches.

AB - This paper investigates a new modelling and control issue: the tracking control problem of underactuated dynamic systems by using a special example – a pendulum-driven cart-pole system. A dynamic model of a pendulum-driven cart-pole system is firstly presented. Then, a six-step motion strategy of the pendulum-driven cart-pole system is proposed. After that, a desired profile of the pendulum joint velocity is developed based on the proposed sixstep motion strategy. The desired joint position and acceleration can be computed using the desired joint velocity profile. A closed-loop control approach is proposed using the partial feedback linearization technique. Finally, extensive simulation studies are conducted to demonstrate the proposed approaches.

KW - underactuated dynamic systems

KW - tracking control

KW - stabilization

KW - inverted pendulum

U2 - 10.1243/09596518JSCE460

DO - 10.1243/09596518JSCE460

M3 - Article

VL - 222

SP - 109

EP - 125

JO - Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering

JF - Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering

SN - 0959-6518

IS - 2

ER -