Analysis and trajectory planning for anti-swing on a one-stage cart pendulum

Abstract

In order to achieve smooth and anti-swing positioning process, a smooth trajectory planning scheme, which is mainly the linear combination of trigonometric functions, is proposed for a one-stage cart pendulum. Based on the internal dynamics of the cart pendulum system, the planning trajectory of the cart is derived from the anticipated swing angle of the pendulum bar, which satisfies the initial and terminal state constraints. Experiments are conducted to demonstrate the performance of anti-swing with the introduced planned trajectory.