Design of Output Feedback Nonlinear Model Predictive Control for Inverted Pendulum on Cart

被引：0

作者：

Pinyopawasutthi, Petchakrit ^{[1
]}

Banjerdpongchai, David ^{[1
]}

Oishi, Yasuaki ^{[2
]}

机构：

[1] Chulalongkorn Univ, Fac Engn, Dept Elect Engn, Intelligent Control Automat Proc Syst iCAPS Res U, 254 Phayathai Rd, Bangkok 10330, Thailand

[2] Nazan Univ, Fac Sci & Engn, Dept Mechatron, Showa Ku, Yamazatocho 18, Nagoya, Aichi 4668673, Japan

来源：

2018 18TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS) | 2018年

关键词：

optimal control; nonlinear systems; nonlinear model predictive control; state observer; inverted pendulum on cart;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents designing of output feedback nonlinear model predictive control (NMPC) for nonlinear systems. NMPC employs the state feedback and updates the control input at each sampling step. The control design of NMPC is formulated as optimal control which requires the information of states of the process. However, in practice, we can measure only some states of the process. This paper aims to use the state observer to estimate the unknown states and use them as feedback for NMPC. We apply output feedback NMPC to inverted pendulum on cart. Numerical results show the response of output feedback NMPC asymptotically converges to that or state feedback NMPC.

引用

页码：1181 / 1186

页数：6

共 50 条

[31] Output Feedback Model Predictive Control of Stochastic Nonlinear Systems
Homer, Tyler
Mhaskar, Prashant
2015 AMERICAN CONTROL CONFERENCE (ACC), 2015, : 793 - 798
[32] Output feedback and tracking of nonlinear systems with model predictive control
Magni, L
De Nicolao, G
Scattolini, R
AUTOMATICA, 2001, 37 (10) : 1601 - 1607
[33] A swingup control of an inverted pendulum with cart position control
Otani, Y
Kurokami, T
Inoue, A
Hirashima, Y
NEW TECHNOLOGIES FOR COMPUTER CONTROL 2001, 2002, : 377 - 382
[34] Design of Model Predictive Control to stabilize Two-Stage Inverted Pendulum
Firmansyah, Rifqi
Saputra, Pressa P. Surya
2020 THIRD INTERNATIONAL CONFERENCE ON VOCATIONAL EDUCATION AND ELECTRICAL ENGINEERING (ICVEE): STRENGTHENING THE FRAMEWORK OF SOCIETY 5.0 THROUGH INNOVATIONS IN EDUCATION, ELECTRICAL, ENGINEERING AND INFORMATICS ENGINEERING, 2020,
[35] Design of Model Predictive Control of Two-Wheeled Inverted Pendulum Robot
Minouchehr, Niloufar
Hosseini-Sani, Seyyed Kamal
2015 3RD RSI INTERNATIONAL CONFERENCE ON ROBOTICS AND MECHATRONICS (ICROM), 2015, : 456 - 462
[36] Nonlinear Model Predictive Control of Inverted Pendulum Using Iterative Steepest Descent Algorithm
Pinyopawasutthi, Petchakrit
Banjerdpongchai, David
Oishi, Yasuaki
2018 15TH INTERNATIONAL CONFERENCE ON ELECTRICAL ENGINEERING/ELECTRONICS, COMPUTER, TELECOMMUNICATIONS AND INFORMATION TECHNOLOGY (ECTI-CON), 2018, : 429 - 432
[37] Model Predictive Control of a Wheeled Inverted Pendulum Robot
Dini, Navid
Majd, Vahid Johari
2015 3RD RSI INTERNATIONAL CONFERENCE ON ROBOTICS AND MECHATRONICS (ICROM), 2015, : 152 - 157
[38] Design and implementation of adaptive control logic for cart-inverted pendulum system
Hanwate, Sandeep
Hote, Yogesh V.
Budhraja, Akshit
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING, 2019, 233 (02) : 164 - 178
[39] A framework for design of scheduled output feedback model predictive control
Wan, Zhaoyang
Kothare, Mayuresh V.
JOURNAL OF PROCESS CONTROL, 2008, 18 (3-4) : 391 - 398
[40] Design, Build, and Test of an Autonomous Inverted Pendulum Cart
White, Warren N.
Wagner, Jacob
Blankenau, Brian
Wang, Ziming
Salazar, Victor
2013 AMERICAN CONTROL CONFERENCE (ACC), 2013, : 5893 - 5898

← 1 2 3 4 5 →