On tracking control of a pendulum-driven cart-pole underactuated system Online publication date: Fri, 28-Nov-2008
by Yang Liu, Hongnian Yu, Sam Wane, Taicheng Yang
International Journal of Modelling, Identification and Control (IJMIC), Vol. 4, No. 4, 2008
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.
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