Design of motion trajectory and tracking control for underactuated cart-pendulum system

DOI10.1002/RNC.4502MaRDI QIDQ5223527zbMATH OpenOpenAlexFDO

Authors Ancai Zhang, Jianlong Qiu, Chengdong Yang, Fawaz E. Alsaadi, Jinhua She

Publication date 18 July 2019

Published in International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/rnc.4502

zbMATH Keywords

cart-pendulum systemmotion controltrajectory designtrajectory trackingunderactuated systems

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Design techniques (robust design, computer-aided design, etc.) (93B51) Nonlinear systems in control theory (93C10)

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(8)

• Trajectory design and tracking control for nonlinear underactuated wheeled inverted pendulum
• Tracking trajectories of the cart-pendulum system
• Nonlinear dynamics analysis and global stabilization of underactuated horizontal spring-coupled two-link manipulator
• Trajectory tracking control of variable length pendulum by partial energy shaping
• A speed regulator for a force-driven cart-pole system
• Tracking control of single‐link flexible‐joint manipulator with unmodeled dynamics and dead zone
• Swing-up and fixed-time stabilization control of underactuated cart-double pendulum system
• Nonlinear global stabilization control for the underactuated WAcrobot system

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