Tracking control of a cart-pendulum underactuated system around its vertical up position

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

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 joi...

Trajectory Optimization of a Pendulum-Driven Underactuated Cart

The control problem of the pendulum-driven cart has been well studied in several literatures. The challenge issue of control of such underactuated system is to control the motions of the pendulum and the cart by applying only one control torque. However, these literatures mostly focused on addressing the dynamic modeling and the tracking control design. Few papers have considered the trajectory...

ME237 Project Nonlinear Control of a Cart Pendulum System

Swing-up and stabilization of a cart-pendulum system under restricted cart track length

This paper describes the swing-up and stabilization of a cart–pendulum system with a restricted cart track length and restricted control force using generalized energy control methods. Starting from a pendant position, the pendulum is swung up to the upright unstable equilibrium con5guration using energy control principles. An “energy well” is built within the cart track to prevent the cart fro...

Robust Adaptive Backstepping Control of Inverted Pendulum on Cart System

In this paper a design methodology for a novel robust adaptive backstepping controller for the stabilization control of an inverted pendulum on a movable cart, which is a benchmark control problem in the nonlinear control system paradigm, has been presented in a systematic manner. The proposed control law provides a systematic iterative formulation of a Lyapunov energy function for the inverted...