Tracking Control of a Pendulum-driven Cart-pole Underactuated System

Hongnian Yu, Yang Liu, Taicheng Yang

Research output: Chapter in Book/Report/Conference proceedingPublished conference contribution

17 Citations (Scopus)


In this paper, we use an example - a pendulum-driven cart-pole system studied in Li et al. (2005) to investigate the tracking control of underactuated dynamic systems. In this paper, we propose a six-step motion strategy of the pendulum driven cart-pole system. We design a desired profile of the pendulum joint velocity based on the proposed six-step motion strategy. Based on the desired joint velocity profile, we can compute the desired joint position and acceleration. The desired joint trajectories will be used in the proposed control approach. We also propose a closed-loop control approach using the partial feedback linearization technique. Extensive simulation studies are conducted to demonstrate the proposed approaches.
Original languageEnglish
Title of host publicationIEEE International Conference on Systems, Man and Cybernetics
Place of PublicationMontreal, Canada
PublisherIEEE Press
Number of pages6
ISBN (Electronic)978-1-4244-0991-4
ISBN (Print)978-1-4244-0991-4
Publication statusPublished - 2007


Dive into the research topics of 'Tracking Control of a Pendulum-driven Cart-pole Underactuated System'. Together they form a unique fingerprint.

Cite this