期刊
出版社
SAGE PUBLICATIONS LTD
DOI: 10.1243/09596518JSCE460
关键词
underactuated dynamic systems; tracking control; stabilization; inverted pendulum
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 six-step motion strategy. The desired joint position and acceleration can be computed using the desired joint velocity profile. A closed-loop control approach is proposed using the partial feedback linearization technique. Finally, extensive simulation studies are conducted to demonstrate the proposed approaches.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据