NDLI: Application of Model Predictive Control to Parallel-Type Double Inverted Pendulum Driven by a Linear Motor

Content Provider	IEEE Xplore Digital Library
Author	Chun-Nan Lu Cheng-Chuan Tsai Mi-Ching Tsai Ling, K.V. Wu-Sung Yao
Copyright Year	2007
Description	Author affiliation: Nat. Cheng Kung Univ., Tainan (Chun-Nan Lu; Cheng-Chuan Tsai; Mi-Ching Tsai)
Abstract	This paper presents the design of model predictive control (MPC) applied to the parallel-type double inverted pendulum (PDIP), which is driven by a linear motor. The limited stroke length of the linear motor driving the PDIP and the varying friction distributed on the linear motor track posed a challenge for control design. Therefore, a cascade control structure is considered in this study where the inner loop is formed via state feedback and MPC directs the outer loop to enhance position control of the linear motor. Swing-up control of the PDIP was achieved with energy-based control techniques. Experimental results demonstrated successful swing-up and balancing of the two pendulums in their up-right positions. Compared to the conventional state feedback control, the cascade control structure improved the performance of the position control in the PDIP without the need for a precise friction model.
Starting Page	2904
Ending Page	2909
File Size	3947816
Page Count	6
File Format	PDF
ISBN	1424407834
ISSN	1553572X
DOI	10.1109/IECON.2007.4460096
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-11-05
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Predictive models Predictive control Control systems State feedback Mathematical model Position control Frequency Friction Linear feedback control systems Hardware swing up Parallel-type double inverted pendulum predictive control cascade control
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Friction compensation for a double inverted pendulum

Model-based friction compensation scheme for the linear inverted pendulum

Real-Time Swing-up of Double Inverted Pendulum by Nonlinear Model Predictive Control

Linear Motor Driven Inverted Pendulum and LQR Controller Design

Hybrid Controller for Swinging up Inverted Pendulum System

Equipment design of linear motor driven inverted pendulum based on cSPACE

INVERTED PENDULUM WITH LINEAR SYNCHRONOUS MOTOR SWING UP USING BOUNDARY VALUE PROBLEM

Pid and interval type-2 fuzzy logic control of double inverted pendulum system

Robust swing-up control for a rotational double pendulum.

Application of Model Predictive Control to Parallel-Type Double Inverted Pendulum Driven by a Linear Motor

Similar Documents

Friction compensation for a double inverted pendulum

Model-based friction compensation scheme for the linear inverted pendulum

Real-Time Swing-up of Double Inverted Pendulum by Nonlinear Model Predictive Control

Linear Motor Driven Inverted Pendulum and LQR Controller Design

Hybrid Controller for Swinging up Inverted Pendulum System

Equipment design of linear motor driven inverted pendulum based on cSPACE

INVERTED PENDULUM WITH LINEAR SYNCHRONOUS MOTOR SWING UP USING BOUNDARY VALUE PROBLEM

Pid and interval type-2 fuzzy logic control of double inverted pendulum system

Robust swing-up control for a rotational double pendulum.

Application of Model Predictive Control to Parallel-Type Double Inverted Pendulum Driven by a Linear Motor