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

motion controltrajectory trackingcart-pendulum systemunderactuated systemstrajectory design

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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• Nonlinear global stabilization control for the underactuated WAcrobot system
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• Nonlinear dynamics analysis and global stabilization of underactuated horizontal spring-coupled two-link manipulator
• A speed regulator for a force-driven cart-pole system
• Trajectory tracking control of variable length pendulum by partial energy shaping
• Tracking trajectories of the cart-pendulum system

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