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

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

Addresses: Faculty of Computing, Engineering and Technology, Octagon Building, Staffordshire University, Beaconside, Stafford ST18 0AD, UK. ' Faculty of Computing, Engineering and Technology, Octagon Building, Staffordshire University, Beaconside, Stafford ST18 0AD, UK. ' Faculty of Computing, Engineering and Technology, Octagon Building, Staffordshire University, Beaconside, Stafford ST18 0AD, UK. ' The Department of Engineering & Design, School of Science and Technology, University of Sussex, Falmer, Brighton BN1 9QT, UK

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.

Keywords: underactuated systems; trajectory tracking; inverted pendulum; pendulum-driven cart-pole systems; partial feedback linearisation; propulsive mechanism; dynamic systems; open-loop control; closed-loop control; uncertainty; simulation.

DOI: 10.1504/IJMIC.2008.021476

International Journal of Modelling, Identification and Control, 2008 Vol.4 No.4, pp.357 - 372

Published online: 28 Nov 2008 *

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