Achieving an Equilibrium Position of Pendubot Via Swing-Up and Stabilizing Model Predictive Control
By: Gulan Martin, Salaj Michal and Rohal'-Ilkiv Boris
References
- [1] TOUATI, N.–CHEMORI, A.: Predictive Control for the Stabilization of a Fast Mechatronic System: from Simulation to Real-Time Experiments, The 6th IFAC Symposium on Mecha-tronic Systems, Hangzhou, China, 2013.
- [2] MAYNE, D. Q.–RAWLINGS, J. B.–RAO, C. V.–SCO-KAERT, P. O. M.: Constrained Model Predictive Control: Stability and Optimality, Automatica 36 No. 6 (2000), 789-814.
- [3] FANTONI, I.–LOZANO, R.: Non-Linear Control for Under-actuated Mechanical Systems, The Institution of Electrical Engineers, London, 2001.
- [4] XIN, X.–TANAKA, S.–SHE, J.–YAMASAKI, T: New Analytical Results of Energy-Based Swing-Up Control for the Pendubot, International Journal of Non-Linear Mechanics 52 (2013), 110-118.
- [5] SPONG, M. W.–BLOCK, D. J.: The Pendubot: a Mechatronic System for Control Research and Education, Proceedings of the 34th IEEE Conference on Decision & Control, 1995, vol. 1, Dec 1995, pp. 65-73.
- [6] BLOCK, D. J.: Mechanical Design and Control of the Pen-dubot, Master's thesis, University of Illinois, 1996.
- [7] FANTONI, I.–LOZANO, R.–SPONG, M. W.: Energy Based Control of the Pendubot, IEEE Transactions on Automatic Control 45 No. 4 (2000), 725-729.
- [8] LEE, K.–COVERSTONE-CARROLL, V.: Control Algorithms for Stabilizing Underactuated Robots, Journal of Robotic Systems 15 No. 12 (1998), 681-697.
- [9] ÅTRÖM, K. J.–FURUTA, K.: Swinging up a Pendulum by Energy Control, Automatica 36 No. 2 (2000), 287-295.
- [10] ANTSAKLIS, P. J.–MICHEL, A. N.: Linear Systems, Birk-häuser, Boston, 2006.
- [11] ROSSITER, J. A.: Model-Based Predictive Control: A Practical Approach, CRC Press, Boca Raton, 2003.
- [12] ROSSITER, J. A.–KOUVARITAKIS, B.–RICE, M. J.: A Numerically Robust State-Space Approach to Stable-Predictive Control Strategies, Automatica 34 No. 1 (1998), 65-73.
- [13] KOUVARITAKIS, B.–LEE, Y. I.–TORTORA, G.–CAN-NON, M.: MPC Stability Constraints and their Implementations, Preprints from the IFAC Conference Control Systems Design, Bratislava, Slovakia, 2000, pp. 205-212.
- [14] BLANCHINI, F.: Set Invariance in Control, Automatica 35 No. 11 (1999), 1747-1767.
- [15] KARAS, A.–ROHAĽ-ILKIV, B.–BELAVÝ, C: Praktické As-pekty Prediktívneho Riadenia, Slovak University of Technology / Slovensk´ e-akadémia, Bratislava, 2006. (In Slovak)
- [16] FERREAU, H. J.–BOCK, H. G.–DIEHL, M.: An online active set strategy to overcome the limitations of explicit MPC, International Journal of Robust and Nonlinear Control 18 No. 8 (2008), 816-830.
DOI: https://doi.org/10.2478/jee-2014-0058 | Journal eISSN: 1339-309X (formerly 1335-3632) | Journal ISSN: 1335-3632
Language: English
Page range: 356 - 363
Submitted on: Dec 6, 2013
Published on: Jan 31, 2015
Published by: Slovak University of Technology in Bratislava
In partnership with: Paradigm Publishing Services
Related subjects:
© 2015 Gulan Martin, Salaj Michal, Rohal'-Ilkiv Boris, published by Slovak University of Technology in Bratislava
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.