Trajectory planning of a Pendulum-Driven Underactuated Cart
Keywords:
pendulum-driven cart, underactuated system, trajectory planning, tracking controlAbstract
The control problem of the pendulum-driven cart has been well studied in several literatures. The challenge issue of control of such underactuated systems is to control the motions of the pendulum and the cart by applying only one control input. However, most literatures focused on addressing the dynamic modeling and the tracking control design. Few papers have considered the trajectory planning of the system which is still an open issue. This paper studies the optimization for the trajectory planning of the system by considering three questions: 1) the furthest cart displacement; 2) the fastest average cart speed; 3) the most efficient power consumption. The paper systematically studies the system dynamics, the system constraints, the tracking control method, some initializations for the optimization problems, and the solutions for the three optimal questions. Extensive simulation studies are given to identify the optimum trajectories of the system.
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