A switching control scheme for underactuated cart-pole systems with aggressive swing-up

This paper presents a switching control scheme for underactuated cart-pole system. The control task is to bring the pole to the upper unstable equilibrium position with converging the cart displacement to zero, and it is separated into two parts: aggressive swing-up the pole from the under plane into the upper plane and stabilizing the pole to its upper unstable equilibrium point with regulating the cart displacement. The stabilization controller is designed with transformed feedforward norm forms dynamics by using nested saturation technique, and the aggressive swing-up controller is developed by using saturated state feedback technique. The simulation results illustrate the effectiveness of the approach