Nonlinear Model Predictive Control of an Inverted Pendulum

被引：32

作者：

Mills, Adam ^{[1
]}

Wills, Adrian ^{[1
]}

Ninness, Brett ^{[1
]}

机构：

[1] Univ Newcastle, Sch Elect Engn & Comp Sci, Callaghan, NSW 2308, Australia

来源：

2009 AMERICAN CONTROL CONFERENCE, VOLS 1-9 | 2009年

关键词：

D O I：

10.1109/ACC.2009.5160391

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, nonlinear model predictive control is applied to an inverted pendulum apparatus. The sample interval for control calculations is 25 milli-seconds and the associated non-convex constrained optimisation problem involves 61-variables with 241-constraints. Despite this being a challenging problem, it was solved on-line using a standard sequential quadratic programming approach on a modest hardware platform. The efficacy of the control algorithm is validated via experimental results.

引用

页码：2335 / 2340

页数：6

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