Stabilization of Furuta Pendulum Using Nonlinear MPC-Reference-Cited by-同舟云学术

Stabilization of Furuta Pendulum Using Nonlinear MPC

Published:2019-09-01 Issue:45 Volume:27 Page:42-48
ISSN:1338-0532
Container-title:Research Papers Faculty of Materials Science and Technology Slovak University of Technology
language:en
Short-container-title:

Author:

Furka Matúš¹,Klaučo Martin¹,Kvasnica Michal¹

Affiliation:

1. Slovak University of Technology in Bratislava , Faculty of Chemical and Food Technology, Institute of Information Engineering, Automation, and Mathematics , Radlinského 9, 812 37 Bratislava , Slovak Republic

Abstract

Abstract This paper is devoted to design of a non-linear model predictive controller (NMPC), which will swing-up and stabilize an inverse rotary pendulum known as the Furuta Pendulum. This paper presents a simulation validation of the NMPC strategy using a full-fidelity non-linear mathematical model of the Furuta pendulum obtained from the Euler-Lagrange motion equations. The NMPC strategy was implemented in MATLAB using the MATMPC toolbox.

Publisher

Walter de Gruyter GmbH

Link

https://www.sciendo.com/pdf/10.2478/rput-2019-0024

Reference5 articles.

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3. [3] HOUSKA, B., FERREAU, H. J., & DIEHL, M. 2011. An auto-generated real-time iteration algorithm for nonlinear MPC in the microsecond range. Automatica, 47(10), pp. 2279-2285.

4. [4] Y. CHEN, M. BRUSCHETTA, E. PICOTTI, and A. BEGHI. MATMPC – A MATLAB Based Toolbox for Real-time Nonlinear Model Predictive Control, 2018.10.23919/ECC.2019.8795788

5. [5] DUART, J.L., MONTERO, B., OSPINA, P.A., GONZÁLES, E. 2017. Dynamic Modelling and Simulation of a Rotational Inverted Pendulum, Journal of Physics.10.1088/1742-6596/792/1/012081

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