A speed regulator for a force-driven cart-pole system

Jesús Sandoval, Rafael Kelly and Víctor Santibáñez

International Journal of Systems Science, 2022, vol. 53, issue 2, 412-430

Abstract: In this paper, we present a speed regulator for a force-driven cart-pole system. The proposed controller allows bringing the pole towards its upright position, while the cart moves asymptotically at desired constant speed, recovering the position regulation when we assign a desired constant position of the cart. The main motivation for addressing speed regulation is to broaden the scope of control of underactuated mechanical systems, because so far, the control of this class of mechanical systems has been focused primarily on position regulation; and therefore, there is few information and results available on broader control objectives, such as speed regulation. In particular, we design a speed regulator for the cart-pole system, as this system is one of the more representative test benches of underactuated mechanical system found in many automatic control research laboratories. Another novelty is the introduction of an alternative energy shaping approach for the velocity control design of a class of underactuated mechanical systems. A complete asymptotic stability analysis based on the Lyapunov theory and the Barbashin–Krasovskii theorem is presented. Local asymptotic stability is concluded. Simulation results upon a force-driven cart-pole model illustrate the performance of the proposed controller.

Date: 2022
References: Add references at CitEc
Citations:

Downloads: (external link)
http://hdl.handle.net/10.1080/00207721.2021.1958950 (text/html)
Access to full text is restricted to subscribers.

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:taf:tsysxx:v:53:y:2022:i:2:p:412-430

Ordering information: This journal article can be ordered from
http://www.tandfonline.com/pricing/journal/TSYS20

DOI: 10.1080/00207721.2021.1958950

Access Statistics for this article

International Journal of Systems Science is currently edited by Visakan Kadirkamanathan

More articles in International Journal of Systems Science from Taylor & Francis Journals
Bibliographic data for series maintained by Chris Longhurst ().