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

Liu, Pengcheng and Yu, Hongnian and Cang, Shuang (2014) Modelling and control of an elastically joint-actuated cart-pole underactuated system. In: 20th International Conference on Automation and Computing (ICAC), 12-13 Sept. 2014, Cranfield, UK.

Documents
(Online) Modelling and control of an elastically joint-actuated cart-pole underactuated system.pdf
[img]
[Download]
[img]
Preview
PDF
(Online) Modelling and control of an elastically joint-actuated cart-pole underactuated system.pdf - Whole Document

373kB
Item Type:Conference or Workshop contribution (Presentation)
Item Status:Live Archive

Abstract

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.

Keywords:Mathematical modelling, trajectory generation, tracking control
Subjects:G Mathematical and Computer Sciences > G150 Mathematical Modelling
H Engineering > H660 Control Systems
Divisions:College of Science
Related URLs:
ID Code:31377
Deposited On:17 Mar 2018 19:22

Repository Staff Only: item control page