Modelling and control of an elastically joint-actuated cart-pole underactuated system

Pengcheng Liu, Hongnian Yu, Shuang Cang

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

13 Citations (Scopus)

Abstract

This paper investigates the modelling and closed-loop tracking control issues of a novel elastic underactuated multibody system. A torsional inverted pendulum cart-pole system with a single rotary actuator at the pivot of the cart is proposed. The system dynamics which incorporates with motion planning is firstly described. An optimization procedure is then discussed to plan the feasible trajectories that not just meet the performance requirements but also obtain optimality with respect to the cart displacement and average velocity. A closed-loop tracking controller is designed under collocated partial feedback linearization (CPFL). Subsequent presentation of simulation demonstrates that the proposed system is promising as compared to the previous work. The paper concludes with the application of our novel scheme to the design and control of autonomous robot systems.

Original languageEnglish
Title of host publicationICAC 2014 - Proceedings of the 20th International Conference on Automation and Computing
Subtitle of host publicationFuture Automation, Computing and Manufacturing
PublisherIEEE
Pages26-31
Number of pages6
ISBN (Electronic)9781909522022
DOIs
Publication statusPublished - 27 Oct 2014
Event20th International Conference on Automation and Computing, ICAC 2014 - Cranfield, UK, Cranfield, United Kingdom
Duration: 12 Sep 201413 Sep 2014

Conference

Conference20th International Conference on Automation and Computing, ICAC 2014
CountryUnited Kingdom
CityCranfield
Period12/09/1413/09/14

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