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

Pengcheng Liu; Hongnian Yu; Shuang Cang

doi:10.1109/IConAC.2014.6935455

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 proceeding › Conference contribution › peer-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 language	English
Title of host publication	ICAC 2014 - Proceedings of the 20th International Conference on Automation and Computing
Subtitle of host publication	Future Automation, Computing and Manufacturing
Publisher	IEEE
Pages	26-31
Number of pages	6
ISBN (Electronic)	9781909522022
DOIs	https://doi.org/10.1109/IConAC.2014.6935455
Publication status	Published - 27 Oct 2014
Event	20th International Conference on Automation and Computing, ICAC 2014 - Cranfield, UK, Cranfield, United Kingdom Duration: 12 Sept 2014 → 13 Sept 2014

Conference

Conference	20th International Conference on Automation and Computing, ICAC 2014
Country/Territory	United Kingdom
City	Cranfield
Period	12/09/14 → 13/09/14

Keywords

elasticity
inverted pendulum
tracking control
underactuated dynamic system

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10.1109/IConAC.2014.6935455

Cite this

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title = "Modelling and control of an elastically joint-actuated cart-pole underactuated system",

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.",

keywords = "elasticity, inverted pendulum, tracking control, underactuated dynamic system",

author = "Pengcheng Liu and Hongnian Yu and Shuang Cang",

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doi = "10.1109/IConAC.2014.6935455",

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pages = "26--31",

booktitle = "ICAC 2014 - Proceedings of the 20th International Conference on Automation and Computing",

publisher = "IEEE",

address = "United States",

note = "20th International Conference on Automation and Computing, ICAC 2014 ; Conference date: 12-09-2014 Through 13-09-2014",

}

Liu, P, Yu, H & Cang, S 2014, Modelling and control of an elastically joint-actuated cart-pole underactuated system. in ICAC 2014 - Proceedings of the 20th International Conference on Automation and Computing: Future Automation, Computing and Manufacturing., 6935455, IEEE, pp. 26-31, 20th International Conference on Automation and Computing, ICAC 2014, Cranfield, United Kingdom, 12/09/14. https://doi.org/10.1109/IConAC.2014.6935455

Modelling and control of an elastically joint-actuated cart-pole underactuated system. / Liu, Pengcheng; Yu, Hongnian; Cang, Shuang.
ICAC 2014 - Proceedings of the 20th International Conference on Automation and Computing: Future Automation, Computing and Manufacturing. IEEE, 2014. p. 26-31 6935455.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Modelling and control of an elastically joint-actuated cart-pole underactuated system

AU - Liu, Pengcheng

AU - Yu, Hongnian

AU - Cang, Shuang

PY - 2014/10/27

Y1 - 2014/10/27

N2 - 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.

AB - 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.

KW - elasticity

KW - inverted pendulum

KW - tracking control

KW - underactuated dynamic system

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M3 - Conference contribution

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BT - ICAC 2014 - Proceedings of the 20th International Conference on Automation and Computing

PB - IEEE

T2 - 20th International Conference on Automation and Computing, ICAC 2014

Y2 - 12 September 2014 through 13 September 2014

ER -

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

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Keywords

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