Optimization and Control of a Pendulum-driven Cart-pole System

— 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 sixstep motion strategy is simulated by using MATLAB/SIMULINK. The pendulum is driven by an openloop controller to track the desired pendulum angular velocity profile. The optimal configuration which based on the profile is addressed under some specified conditions. Keywords- pendulum-driven; friction; propulsion mechanism; optimal configuration.

• Type: Conference
• Year: 2007
• Where: ICNSC
• Authors: Yang Liu, Hongnian Yu, Brian Burrows
• Keywords: Computer Networks, ICNSC 2007, Optimal Configuration, Pendulum Angular Velocity, Sixstep Motion Strategy