A further study of control for a pendulum-driven cart

Authors: Yu, Hongnian¹; Yang, Taicheng²; Liu, Yang¹; Wane, Sam³

Source: International Journal of Advanced Mechatronic Systems, Volume 1, Number 1, 17 October 2008 , pp. 44-52(9)

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Abstract:

Recently, the control of a 'pendulum-driven cart' has attracted some considerable research interest. One of the reasons is that the mechanism studied is very similar to that of an 'actively-driven capsule robot' which is still under development and will have wide potential medical applications. In this paper, we study the pendulum-driven cart system from a control viewpoint, and use it as a benchmark to explore a new robust control approach which achieves better performance than those presented in a previous paper. The controller designed is also robust against uncertainties in plant parameters and very simple to implement. The extensive simulation studies and experimental results have demonstrated the proposed control approach.

Keywords: TECHNICAL JOURNALS; Electronic Systems, Control and Artificial Intelli

Document Type: Research article

DOI: http://dx.doi.org/10.1504/IJAMECHS.2008.020837

Affiliations: 1: Faculty of Computing, Engineering and Technology, Staffordshire University, Stafford, ST18 0AD, UK. 2: School of Engineering and Information Technology, Sussex University, Brighton, BN1 9QT, UK. 3: Faculty of Computing, Engineering and Technology, Staffordshire University, Stafford, ST18 0AD, UK

Publication date: 2008-10-17

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The International Journal of Advanced Mechatronic Systems provides concise and quantitative expressions of the theoretical and practical developments in mechatronic systems and is set up to reflect the relevant generic studies.