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
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