On tracking control of a pendulum-driven cart-pole underactuated system

Yang Liu, Hongnian Yu, Taicheng Yang

Research output: Contribution to journalArticlepeer-review

18 Citations (Scopus)


In this paper, we address the trajectory tracking issue of underactuated dynamic systems using a special example – a pendulum-driven cart-pole system. We first develop the dynamic model of the pendulum-driven cart-pole system. To drive the cart in a desired direction, we propose a six-step motion strategy and an optimal selection of the parameters of the six-step strategy profile. To track the desired profile, we study two control algorithms: open-loop control and closed-loop control. Later on, based on these two algorithms, we propose a new control algorithm called simple switch control which aims to overcome the issues in real experiment. Robustness of the proposed algorithms is studied by putting uncertainties on system parameters. Finally, extensive simulation studies are conducted to demonstrate the proposed algorithms.
Original languageEnglish
Pages (from-to)357-372
Number of pages16
JournalInternational Journal of Modeling, Identification and Control
Issue number4
Publication statusPublished - 2008


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