TY - GEN
T1 - Application of Model Predictive Control to Parallel-type Double Inverted Pendulum driven by a linear motor
AU - Lu, Chun Nan
AU - Tsai, Cheng Chuan
AU - Tsai, Mi-Ching
AU - Ling, K. V.
AU - Yao, Wu Sung
PY - 2007/12/1
Y1 - 2007/12/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=49949085462&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=49949085462&partnerID=8YFLogxK
U2 - 10.1109/IECON.2007.4460096
DO - 10.1109/IECON.2007.4460096
M3 - Conference contribution
AN - SCOPUS:49949085462
SN - 1424407834
SN - 9781424407835
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 2904
EP - 2909
BT - Proceedings of the 33rd Annual Conference of the IEEE Industrial Electronics Society, IECON
T2 - 33rd Annual Conference of the IEEE Industrial Electronics Society, IECON
Y2 - 5 November 2007 through 8 November 2007
ER -