Fast hybrid dual mode NMPC for a parallel double inverted pendulum with experimental validation (Q6608979)
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scientific article; zbMATH DE number 7916931
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| English | Fast hybrid dual mode NMPC for a parallel double inverted pendulum with experimental validation |
scientific article; zbMATH DE number 7916931 |
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Fast hybrid dual mode NMPC for a parallel double inverted pendulum with experimental validation (English)
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20 September 2024
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predictive control
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closed loop systems
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nonlinear control systems
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stability
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optimisation
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pendulums
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robust control
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continuous time systems
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Kalman filters
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iterative methods
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fast hybrid dual mode NMPC
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parallel double inverted pendulum
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experimental validation
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nonlinear model predictive control approach
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dual-mode closed-loop predictions
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numerically robust optimal solutions
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real-time iteration scheme
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real-time performance
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RTI scheme
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additional energy-based costs
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hybrid switching scheme
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nonstandard discretised model
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online system identification scheme
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