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dc.contributor.authorLiu, Pengcheng
dc.contributor.authorYu, Hongnian
dc.contributor.authorCang, Shuang
dc.date.accessioned2019-01-24T16:26:55Z
dc.date.available2019-01-24T16:26:55Z
dc.date.issued2014
dc.identifier.citationLiu, P., Yu, H. and Cang, S. (2014) 'Modelling and control of an elastically joint-actuated cart-pole underactuated system',. In Automation and Computing (ICAC), 2014 20th International Conference on (pp. 26-31). IEEE.en_US
dc.identifier.urihttp://hdl.handle.net/10369/10233
dc.descriptionPaper published in 20th International Conference on Automation and Computing (ICAC), available at https://doi.org/10.1109/IConAC.2014.6935455en_US
dc.description.abstractThis paper investigates the modelling and closedloop tracking control issues of a novel elastic underactuated multibody system. A torsional inverted pendulum cart-pole system with a single rotary actuator at the pivot of the cart is proposed. The system dynamics which incorporates with motion planning is firstly described. An optimization procedure is then discussed to plan the feasible trajectories that not just meet the performance requirements but also obtain optimality with respect to the cart displacement and average velocity. A closed-loop tracking controller is designed under collocated partial feedback linearization (CPFL). Subsequent presentation of simulation demonstrates that the proposed system is promising as compared to the previous work. The paper concludes with the application of our novel scheme to the design and control of autonomous robot systemsen_US
dc.language.isoenen_US
dc.publisherIEEEen_US
dc.relation.ispartofseries2014 20th International Conference on Automation and Computing;
dc.subjectMathematical modellingen_US
dc.subjecttrajectory generationen_US
dc.subjecttracking controlen_US
dc.titleModelling and control of an elastically joint-actuated cart-pole underactuated systemen_US
dc.typeConference paperen_US
dc.identifier.doihttps://doi.org/10.1109/IConAC.2014.6935455
dcterms.dateAccepted2014
rioxxterms.versionAMen_US
rioxxterms.licenseref.urihttp://www.rioxx.net/licenses/all-rights-reserveden_US


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