Title: A further study of control for a pendulum-driven cart

Authors: Hongnian Yu, Taicheng Yang, Yang Liu, Sam Wane

Addresses: Faculty of Computing, Engineering and Technology, Staffordshire University, Stafford, ST18 0AD, UK. ' School of Engineering and Information Technology, Sussex University, Brighton, BN1 9QT, UK. ' Faculty of Computing, Engineering and Technology, Staffordshire University, Stafford, ST18 0AD, UK. ' Faculty of Computing, Engineering and Technology, Staffordshire University, Stafford, ST18 0AD, UK

Abstract: Recently, the control of a |pendulum-driven cart| has attracted some considerable research interest. One of the reasons is that the mechanism studied is very similar to that of an |actively-driven capsule robot| which is still under development and will have wide potential medical applications. In this paper, we study the pendulum-driven cart system from a control viewpoint, and use it as a benchmark to explore a new robust control approach which achieves better performance than those presented in a previous paper. The controller designed is also robust against uncertainties in plant parameters and very simple to implement. The extensive simulation studies and experimental results have demonstrated the proposed control approach.

Keywords: pendulum-driven cart; robust control; inverted pendulum; underactuated systems; propulsive mechanism; controller design; simulation.

DOI: 10.1504/IJAMECHS.2008.020837

International Journal of Advanced Mechatronic Systems, 2008 Vol.1 No.1, pp.44 - 52

Published online: 17 Oct 2008 *

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