TCCT - Dynamic properties analysis and motion planning for underactuated cart-pendulum system

2016 35th Chinese Control Conference (CCC)

Author(s): Zhang Ancai ; Yang Chengdong ; Gong Shuli ; Qiu Jianlong ; Cong Lanmei
Publisher: TCCT
Publication Date: 1 July 2016
Conference Location: Chengdu, China
Conference Date: 27 July 2016
Page(s): 769 - 774
ISBN (Electronic): 978-9-8815-6391-0
ISSN (Electronic): 1934-1768
DOI: 10.1109/ChiCC.2016.7553178

A cart-pendulum system has two degrees of freedom (DOF) and has only one control input. It is a well known example of underactuated nonlinear mechanical system. We analyze the dynamic properties... View More