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

Yang Liu, Hongnian Yu, Taicheng Yang

Research output: Contribution to journalArticle

13 Citations (Scopus)

Abstract

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.
Original languageEnglish
Pages (from-to)357-372
Number of pages16
JournalInternational Journal of Modeling, Identification and Control
Volume4
Issue number4
DOIs
Publication statusPublished - 2008

Fingerprint

Underactuated System
Tracking Control
Pendulum
Pendulums
Pole
Poles
Control Algorithm
Open-loop Control
Trajectory Tracking
Closed-loop Control
Dynamic Systems
Switch
Dynamic Model
Simulation Study
Robustness
Uncertainty
Motion
Dynamic models
Dynamical systems
Demonstrate

Cite this

On tracking control of a pendulum-driven cart-pole underactuated system. / Liu, Yang; Yu, Hongnian; Yang, Taicheng.

In: International Journal of Modeling, Identification and Control, Vol. 4, No. 4, 2008, p. 357-372.

Research output: Contribution to journalArticle

@article{c42cd0317ccf41e2a82d1aeaa8ddbfd7,
title = "On tracking control of a pendulum-driven cart-pole underactuated system",
abstract = "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.",
author = "Yang Liu and Hongnian Yu and Taicheng Yang",
year = "2008",
doi = "10.1504/IJMIC.2008.021476",
language = "English",
volume = "4",
pages = "357--372",
journal = "International Journal of Modeling, Identification and Control",
issn = "1746-6172",
publisher = "Inderscience Enterprises Ltd.",
number = "4",

}

TY - JOUR

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

AU - Liu, Yang

AU - Yu, Hongnian

AU - Yang, Taicheng

PY - 2008

Y1 - 2008

N2 - 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.

AB - 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.

U2 - 10.1504/IJMIC.2008.021476

DO - 10.1504/IJMIC.2008.021476

M3 - Article

VL - 4

SP - 357

EP - 372

JO - International Journal of Modeling, Identification and Control

JF - International Journal of Modeling, Identification and Control

SN - 1746-6172

IS - 4

ER -