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In this paper, we propose a nonlinear control strategy for swinging up apendulum to its upright equilibrium position by shaping its swinging energyalong with regulating the cart to a desired location. While the base of a usualcart-pole system is restricted to move in a straight line, the present systemis allowed to move in the x-y plane with a nonholonomic consraint that itsallowable velocity is only along its orientation. A simple time invariantcontrol law has been presented and its effectiveness has been demonstratedusing numerical experiments.

Nonlinear control of a swinging pendulum on a wheeled mobile robot with nonholonomic constraints