Stabilization of Furuta Pendulum Using Nonlinear MPC

Stabilization of Furuta Pendulum Using Nonlinear MPC

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 F...

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Veröffentlicht in:Vedecké práce Materiálovotechnologickej fakulty Slovenskej technickej univerzity v Bratislave so sídlom v Trnave 2019-09, Vol.27 (45), p.42-48
Hauptverfasser: Furka, Matúš, Klaučo, Martin, Kvasnica, Michal
Format: Artikel
Sprache:eng
Schlagworte:
Computer simulation
Equations of motion
Euler-Lagrange equation
Mathematical models
Nonlinear control
Pendulums
Predictive control
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Beschreibung
Zusammenfassung: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.
ISSN:1338-0532
1336-1589
1338-0532
DOI:10.2478/rput-2019-0024