Real-time MHE-based nonlinear MPC of a Pendubot system

被引：5
|
作者：
Gulan, M. [1 ]
Salaj, M. [1 ]
Abdollahpouri, M. [1 ]
Rohal-Ilkiv, B. [1 ]
机构：
[1] Slovak Univ Technol Bratislava, Fac Mech Engn, Inst Automat Measurement & Appl Informat, Bratislava, Slovakia
来源：
IFAC PAPERSONLINE | 2015年 / 48卷 / 23期
关键词：
Pendubot control; under-actuated system; fast NNIPC; nonlinear optimization; real-time control and estimation; OPTIMIZATION;
D O I：
10.1016/j.ifacol.2015.11.315
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 addresses the real-time optirnal control of a Pendubot using nonlinear model predictive control (NMPC) combined with nonlinear moving horizon estimation (MHE). This fast, undo-actuated nonlinear mechatronic System apparently poses a challenging benefit mark problem that may benefit from a nonlinear optimization scheme. To overcome the related computational difficulties we make use of the ACADO Code Generation tool allowing to export, a highly efficient Gauss-Newton real-time iteration algorithm tailored to the nonlinear optimal control and estimation problem while respecting the imposed constraints. We show experimental results illustrating the overall Hosed-loop control performance, as well as the advantages of the nonlinear MHE--based NMPC scheme. (C) 2015, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
引用
收藏
页码：422 / 427
页数：6
相关论文
共 50 条
  • [1] Pendubot Control Scheme Based on Nonlinear MPC and MHE Exploiting Parallelization
    Salaj, Michal
    Gulan, Martin
    Rohal'-Ilkiv, Boris
    INES 2015 - IEEE 19TH INTERNATIONAL CONFERENCE ON INTELLIGENT ENGINEERING SYSTEMS, 2015, : 353 - 358
  • [2] Anytime MHE-based output feedback MPC
    Gharbi, Meriem
    Ebenbauer, Christian
    IFAC PAPERSONLINE, 2021, 54 (06): : 264 - 271
  • [3] Real-time nonlinear MPC and MHE for a large-scale mechatronic application
    Vukov, M.
    Gros, S.
    Horn, G.
    Frison, G.
    Geebelen, K.
    Jorgensen, J. B.
    Swevers, J.
    Diehl, M.
    CONTROL ENGINEERING PRACTICE, 2015, 45 : 64 - 78
  • [4] Tracking Control of Unforced and Forced Equilibrium Positions of the Pendubot System: A Nonlinear MHE and MPC Approach
    Gulan, Martin
    Salaj, Michal
    RohaI-Ilkiv, Boris
    ACTUATORS, 2023, 12 (09)
  • [5] A Time Splitting Based Real-Time Iteration Scheme for Nonlinear MPC
    Jiang, Yuning
    Jones, Colin N.
    Houska, Boris
    2019 IEEE 58TH CONFERENCE ON DECISION AND CONTROL (CDC), 2019, : 2350 - 2355
  • [6] Real-time MPC supervisory system
    Leung, D
    Romagnoli, J
    COMPUTERS & CHEMICAL ENGINEERING, 2000, 24 (2-7) : 285 - 290
  • [7] An MHE-based MPC strategy for simultaneous energy generation maximization and water level management in inland waterways
    Pour, Fatemeh Karimi
    Segovia, Pablo
    Etienne, Lucien
    Duviella, Eric
    IFAC PAPERSONLINE, 2022, 55 (33): : 20 - 26
  • [8] A Compression Algorithm for Real-Time Distributed Nonlinear MPC
    Quirynen, Rien
    Zanon, Mario
    Kozma, Attila
    Diehl, Moritz
    2015 EUROPEAN CONTROL CONFERENCE (ECC), 2015, : 3422 - 3427
  • [9] Real-Time Fuel Economy Optimization With Nonlinear MPC for PHEVs
    Zhang, Jiangyan
    Shen, Tielong
    IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2016, 24 (06) : 2167 - 2175
  • [10] Real-time Machine Learning-Based CLBF-MPC of Nonlinear Systems
    Wu, Zhe
    Rincon, David
    Christofides, Panagiotis D.
    IFAC PAPERSONLINE, 2020, 53 (02): : 11589 - 11594
12345