Motion trajectory design and tracking control for underactuated Furata pendulum system

This paper discusses the motion trajectory design and tracking control problem for an underactuated mechanical system called Furuta pendulum. Firstly, the dynamic equations of a Furuta pendulum system are given. And the dynamic properties of this mechanical system are analyzed. Secondly, we construct a trajectory for the Furuta pendulum in its motion space based on the analysis properties. Afterwards, a tracking controller is designed to track the constructed motion trajectory. This guarantees the stabilization of the Furuta pendulum from an initial point to an objective point to be achieved. To demonstrate the validity of our proposed theoretical analysis results, a numerical example is presented finally.