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

页码：422 / 427

页数：6

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