Stabilization of Furuta Pendulum Using Nonlinear MPC

Matúš Furka; Martin Klaučo; Michal Kvasnica

doi:10.2478/rput-2019-0024

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Stabilization of Furuta Pendulum Using Nonlinear MPC

Research Papers Faculty of Materials Science and Technology Slovak University of Technology

Volume 27 (2019): Issue 45 (September 2019)

By: Matúš Furka, Martin Klaučo and Michal Kvasnica

Open Access

|Dec 2019

Abstract

This paper is devoted to design of a non-linear model predictive controller (NMPC), which will swing-up and stabilize an inverse rotary pendulum known as the Furuta Pendulum. This paper presents a simulation validation of the NMPC strategy using a full-fidelity non-linear mathematical model of the Furuta pendulum obtained from the Euler-Lagrange motion equations. The NMPC strategy was implemented in MATLAB using the MATMPC toolbox.

References

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[2] MAGNI, L. RAIMONDO, D. M., & ALLGÖWER, F. 2009. Nonlinear model predictive control. Lecture Notes in Control and Information Sciences, (384).10.1007/978-3-642-01094-1
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[3] HOUSKA, B., FERREAU, H. J., & DIEHL, M. 2011. An auto-generated real-time iteration algorithm for nonlinear MPC in the microsecond range. Automatica, 47(10), pp. 2279-2285.10.1016/j.automatica.2011.08.020
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[4] Y. CHEN, M. BRUSCHETTA, E. PICOTTI, and A. BEGHI. MATMPC – A MATLAB Based Toolbox for Real-time Nonlinear Model Predictive Control, 2018.10.23919/ECC.2019.8795788
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[5] DUART, J.L., MONTERO, B., OSPINA, P.A., GONZÁLES, E. 2017. Dynamic Modelling and Simulation of a Rotational Inverted Pendulum, Journal of Physics.10.1088/1742-6596/792/1/012081
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Articles in this issue

DOI: https://doi.org/10.2478/rput-2019-0024 | Journal eISSN: 1338-0532 | Journal ISSN: 1336-1589

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Language: English

Page range: 42 - 48

Submitted on: Aug 19, 2019

Accepted on: Sep 24, 2019

Published online: Dec 16, 2019

Published in print: Sep 1, 2019

Published by: Slovak University of Technology in Bratislava

In partnership with: Paradigm Publishing Services

Publication frequency: 2 issues per year

Keywords:

Furuta Pendulum,

NMPC,

MATMPC

Related subjects:

Engineering,

Introductions and overviews,

Engineering, other

© 2019 Matúš Furka, Martin Klaučo, Michal Kvasnica, published by Slovak University of Technology in Bratislava
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Volume 27 (2019): Issue 45 (September 2019)