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

@inproceedings{Yu2008ClosedloopTC,
  title={Closed-loop tracking control of a pendulum-driven cart-pole underactuated system},
  author={Hongyan Yu and Yuan-yuan Liu and Tianxu Yang},
  year={2008}
}
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… CONTINUE READING
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