PD-Based Control of Cart-Pole System on Inclined Plane with Variable Slope

Abstract

Abstract For control research, the cart-pole system is one of the basic models. Various controllers for controlling under-actuated systems in unstable postures are available, according to the literature. In this paper, an off-line management of a variable slope cart-pole system is proposed. The system moves on a circular arc surface with a certain radius. The dynamic pattern of the cart-pole system is obtained by Euler-Lagrangian formulation, and the controllability analysis is considered. Initially, a Python model of the proposed system was created, which was then simulated with a PD controller. Based on the required joint angle, we can calculate the required control parameter distribution. By studying the differences in the stability time and steady-state error of the system under different parameters, the efficacy of the suggested method is proved, and the possibility of further parameter optimization is proposed. For the future study, the simulation of a more irregular trajectory would be inspired by this model and control of the cart-pole system on a non-linear trajectory.