n 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
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