Title :
Optimization and Control of a Pendulum-driven Cart-pole System
Author :
Liu, Yang ; Yu, Hongnian ; Burrows, Brian
Author_Institution :
Staffordshire Univ., Stafford
Abstract :
This paper investigates the motion generation for a pendulum-driven cart-pole system. The dynamic model of this system is developed by using the Newton´s law. A six-step motion strategy is simulated by using MATLAB/SIMULINK. The pendulum is driven by an open-loop controller to track the desired pendulum angular velocity profile. The optimal configuration which based on the profile is addressed under some specified conditions.
Keywords :
friction; mechanical variables control; motion control; nonlinear control systems; open loop systems; optimal control; pendulums; vehicle dynamics; MATLAB/SIMULINK; Newton´s law; angular velocity profile; open-loop controller; pendulum-driven cart-pole system; six-step motion strategy; Acceleration; Angular velocity; Angular velocity control; Control systems; Endoscopes; Friction; Mathematical model; Motion control; Propulsion; Torque; friction; optimal configuration; pendulum-driven; propulsion mechanism;
Conference_Titel :
Networking, Sensing and Control, 2007 IEEE International Conference on
Conference_Location :
London
Print_ISBN :
1-4244-1076-2
Electronic_ISBN :
1-4244-1076-2
DOI :
10.1109/ICNSC.2007.372768
