Closed-loop tracking control of a pendulum-driven cart-pole underactuated system

This paper investigates a new modelling and control issue: the tracking control problem of underactuated dynamic systems by using a special example – a pendulum-driven cart-pole system. A dynamic model of a pendulum-driven cart-pole system is firstly presented. Then, a six-step motion strategy of the pendulum-driven cart-pole system is proposed. After that, a desired profile of the pendulum joint velocity is developed based on the proposed sixstep motion strategy. The desired joint position and acceleration can be computed using the desired joint velocity profile. A closed-loop control approach is proposed using the partial feedback linearization technique. Finally, extensive simulation studies are conducted to demonstrate the proposed approaches.