Modelling and Offset-free Predictive Control of the Parallel-Type Double Inverted Pendulum

被引：0
|
作者：
Paul, Ager [1 ]
Kucukdemiral, Ibrahim [1 ]
Bevan, Gerain [1 ]
机构：
[1] Glasgow Caledonian Univ, Sch Comp Engn & Built Environm, Dept Appl Sci, 70 Cowcaddens Rd, Glasgow G4 0BA, Lanark, Scotland
来源：
2022 10TH INTERNATIONAL CONFERENCE ON SYSTEMS AND CONTROL (ICSC) | 2022年
关键词：
D O I：
10.1109/ICSC57768.2022.9993951
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 a nonlinear model of the parallel-type double inverted pendulum system with an elastic spring that produces opposing torques on the pendulums. The effects of solid and viscous frictional forces are considered in the developed model. The stabilising control of the nonlinear system is investigated by designing an offset-free model predictive control (OfMPC) scheme based on the linearised model. The use of OfMPC makes it possible to optimize the system performance while also ensuring that the physical limits of the system are not exceeded. Numerical simulation is used to show the effectiveness and prospective benefits of using the proposed controller over the conventional method.
引用
收藏
页码：403 / 409
页数：7
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