Application of Model Predictive Control to Parallel-type Double Inverted Pendulum driven by a linear motor

Chun Nan Lu, Cheng Chuan Tsai, Mi-Ching Tsai, K. V. Ling, Wu Sung Yao

研究成果: Conference contribution

10 引文 斯高帕斯(Scopus)

摘要

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.

原文English
主出版物標題Proceedings of the 33rd Annual Conference of the IEEE Industrial Electronics Society, IECON
頁面2904-2909
頁數6
DOIs
出版狀態Published - 2007 十二月 1
事件33rd Annual Conference of the IEEE Industrial Electronics Society, IECON - Taipei, Taiwan
持續時間: 2007 十一月 52007 十一月 8

出版系列

名字IECON Proceedings (Industrial Electronics Conference)

Other

Other33rd Annual Conference of the IEEE Industrial Electronics Society, IECON
國家/地區Taiwan
城市Taipei
期間07-11-0507-11-08

All Science Journal Classification (ASJC) codes

  • 控制與系統工程
  • 電氣與電子工程

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