A Fully Actuated System Approach to the Balance Control of Cart-Pendulum System

Shengjia Chen; Haowen Liu; Guangren Duan; Ping Li

doi:10.1109/FASTA70174.2026.11549445

A Fully Actuated System Approach to the Balance Control of Cart-Pendulum System

Shengjia Chen
, Haowen Liu
, Guangren Duan
, Ping Li^*

^*Corresponding author for this work

School of Astronautics

Southern University of Science and Technology
Óbuda University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

The cart-pendulum is a benchmark system for testing control algorithms. This article investigates the balance control of the cart-pendulum based on the fully actuated system (FAS) approach. First, the FAS model of the cart-pendulum, incorporating a supplementary subsystem, is derived via state transformation. Then, the control law is designed to ensure the exponential convergence of the FAS model. Furthermore, the stability of the supplementary subsystem is analyzed based on Lyapunov functions. Finally, simulations are conducted to demonstrate the effectiveness of the proposed approach.

Original language	English
Title of host publication	Proceedings of the 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1676-1680
Number of pages	5
ISBN (Electronic)	9798319547323
DOIs	https://doi.org/10.1109/FASTA70174.2026.11549445
State	Published - 2026
Event	5th Conference on Fully Actuated System Theory and Applications, FASTA 2026 - Qinhuangdao, China Duration: 22 May 2026 → 24 May 2026

Publication series

Name	Proceedings of the 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026

Conference

Conference	5th Conference on Fully Actuated System Theory and Applications, FASTA 2026
Country/Territory	China
City	Qinhuangdao
Period	22/05/26 → 24/05/26

Keywords

cart-pendulum
Fully actuated system approach
underactuated system

Access to Document

10.1109/FASTA70174.2026.11549445

Cite this

Chen, S., Liu, H., Duan, G., & Li, P. (2026). A Fully Actuated System Approach to the Balance Control of Cart-Pendulum System. In Proceedings of the 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026 (pp. 1676-1680). (Proceedings of the 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/FASTA70174.2026.11549445

Chen, Shengjia ; Liu, Haowen ; Duan, Guangren et al. / A Fully Actuated System Approach to the Balance Control of Cart-Pendulum System. Proceedings of the 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026. Institute of Electrical and Electronics Engineers Inc., 2026. pp. 1676-1680 (Proceedings of the 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026).

@inproceedings{b9eb28e56ef04f82982dc462ccb73376,

title = "A Fully Actuated System Approach to the Balance Control of Cart-Pendulum System",

abstract = "The cart-pendulum is a benchmark system for testing control algorithms. This article investigates the balance control of the cart-pendulum based on the fully actuated system (FAS) approach. First, the FAS model of the cart-pendulum, incorporating a supplementary subsystem, is derived via state transformation. Then, the control law is designed to ensure the exponential convergence of the FAS model. Furthermore, the stability of the supplementary subsystem is analyzed based on Lyapunov functions. Finally, simulations are conducted to demonstrate the effectiveness of the proposed approach.",

keywords = "cart-pendulum, Fully actuated system approach, underactuated system",

author = "Shengjia Chen and Haowen Liu and Guangren Duan and Ping Li",

note = "Publisher Copyright: {\textcopyright} 2026 IEEE.; 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026 ; Conference date: 22-05-2026 Through 24-05-2026",

year = "2026",

doi = "10.1109/FASTA70174.2026.11549445",

language = "英语",

series = "Proceedings of the 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1676--1680",

booktitle = "Proceedings of the 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026",

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Chen, S, Liu, H, Duan, G & Li, P 2026, A Fully Actuated System Approach to the Balance Control of Cart-Pendulum System. in Proceedings of the 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026. Proceedings of the 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026, Institute of Electrical and Electronics Engineers Inc., pp. 1676-1680, 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026, Qinhuangdao, China, 22/05/26. https://doi.org/10.1109/FASTA70174.2026.11549445

A Fully Actuated System Approach to the Balance Control of Cart-Pendulum System. / Chen, Shengjia; Liu, Haowen; Duan, Guangren et al.
Proceedings of the 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026. Institute of Electrical and Electronics Engineers Inc., 2026. p. 1676-1680 (Proceedings of the 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - A Fully Actuated System Approach to the Balance Control of Cart-Pendulum System

AU - Chen, Shengjia

AU - Liu, Haowen

AU - Duan, Guangren

AU - Li, Ping

PY - 2026

Y1 - 2026

N2 - The cart-pendulum is a benchmark system for testing control algorithms. This article investigates the balance control of the cart-pendulum based on the fully actuated system (FAS) approach. First, the FAS model of the cart-pendulum, incorporating a supplementary subsystem, is derived via state transformation. Then, the control law is designed to ensure the exponential convergence of the FAS model. Furthermore, the stability of the supplementary subsystem is analyzed based on Lyapunov functions. Finally, simulations are conducted to demonstrate the effectiveness of the proposed approach.

AB - The cart-pendulum is a benchmark system for testing control algorithms. This article investigates the balance control of the cart-pendulum based on the fully actuated system (FAS) approach. First, the FAS model of the cart-pendulum, incorporating a supplementary subsystem, is derived via state transformation. Then, the control law is designed to ensure the exponential convergence of the FAS model. Furthermore, the stability of the supplementary subsystem is analyzed based on Lyapunov functions. Finally, simulations are conducted to demonstrate the effectiveness of the proposed approach.

KW - cart-pendulum

KW - Fully actuated system approach

KW - underactuated system

UR - https://www.scopus.com/pages/publications/105043537129

U2 - 10.1109/FASTA70174.2026.11549445

DO - 10.1109/FASTA70174.2026.11549445

M3 - 会议稿件

AN - SCOPUS:105043537129

T3 - Proceedings of the 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026

SP - 1676

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BT - Proceedings of the 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026

Y2 - 22 May 2026 through 24 May 2026

ER -

Chen S, Liu H, Duan G, Li P. A Fully Actuated System Approach to the Balance Control of Cart-Pendulum System. In Proceedings of the 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026. Institute of Electrical and Electronics Engineers Inc. 2026. p. 1676-1680. (Proceedings of the 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026). doi: 10.1109/FASTA70174.2026.11549445

A Fully Actuated System Approach to the Balance Control of Cart-Pendulum System

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