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Real-Time Swing-up of Double Inverted Pendulum by Nonlinear Model Predictive Control
| Content Provider | Semantic Scholar |
|---|---|
| Author | Jaiwat, Pathompong Ohtsuka, Toshiyuki |
| Copyright Year | 2014 |
| Abstract | In this study, the swing-up of a double inverted pendulum is controlled by nonlinear model predictive control (NMPC). The fast computation algorithm called C/GMRES (continuation/generalized minimal residual) is applied to solve a nonlinear two-point boundary value problem over a receding horizon in real time. The goal is to swing-up and stabilize two pendulums from the downward to upright position. To make the tuning process of the performance index simpler, the terminal cost in the performance index is given by a solution of the algebraic Riccati equation. The simulation results show that C/GMRES can solve the NMPC problem in real time and swingup the double inverted pendulum with a significant reduction in the computational cost compared with Newton’s method. |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | http://www.nt.ntnu.no/users/skoge/prost/proceedings/adconip-2014/pdf/SUBS61TO80/0068/0068_FI.pdf |
| Alternate Webpage(s) | http://folk.ntnu.no/skoge/prost/proceedings/adconip-2014/pdf/SUBS61TO80/0068/0068_FI.pdf |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
