Modelling and Control of an Elastically Joint Actuated Cart Pole Underactuated System.pdf (330.3 kB)
Download file

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

Download (330.3 kB)
conference contribution
posted on 28.04.2022, 11:41 by Pengcheng Liu, Hongnian Yu, Shuang Cang

This paper investigates the modelling and closedloop 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 

History

Presented at

2014 20th International Conference on Automation and Computing

Published in

2014 20th International Conference on Automation and Computing

Publisher

IEEE

Version

AM (Accepted Manuscript)

Citation

Liu, P., Yu, H. and Cang, S. (2014) 'Modelling and control of an elastically joint-actuated cart-pole underactuated system',. In Automation and Computing (ICAC), 2014 20th International Conference on (pp. 26-31). IEEE.

ISBN

978-1-9095-2202-2

Cardiff Met Affiliation

  • Cardiff School of Technologies

Cardiff Met Authors

Pengcheng Liu

Copyright Holder

© The Publisher

Publisher Rights Statement

© 2014 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.

Language

en