Fast hybrid dual mode NMPC for a parallel double inverted pendulum with experimental validation
DOI10.1049/IET-CTA.2020.0130zbMATH Open1542.93092MaRDI QIDQ6608979FDOQ6608979
Authors: Oscar Gonzalez, Anthony Rossiter 
Publication date: 20 September 2024
Published in: IET Control Theory \& Applications (Search for Journal in Brave)
optimisationstabilityiterative methodsrobust controlnonlinear control systemspredictive controlKalman filterscontinuous time systemsclosed loop systemsexperimental validationpendulumsreal-time performancereal-time iteration schemeadditional energy-based costsdual-mode closed-loop predictionsfast hybrid dual mode NMPChybrid switching schemenonlinear model predictive control approachnonstandard discretised modelnumerically robust optimal solutionsonline system identification schemeparallel double inverted pendulumRTI scheme
Control of mechanical systems (70Q05) Nonlinear systems in control theory (93C10) Control/observation systems governed by functional relations other than differential equations (such as hybrid and switching systems) (93C30) Estimation and detection in stochastic control theory (93E10) Identification in stochastic control theory (93E12) Model predictive control (93B45)
Cites Work
- Swing-up and stabilization of a twin-pendulum under state and control constraints by a fast NMPC scheme
- Model predictive control system design and implementation using \texttt{MATLAB}
- A numerically robust state-space approach to stable-predictive control strategies
- Swing-up control of a triple pendulum on a cart with experimental validation
- Modelling and identification of nonlinear deterministic systems in the delta-domain
- A Real-Time Iteration Scheme for Nonlinear Optimization in Optimal Feedback Control
- An auto-generated real-time iteration algorithm for nonlinear MPC in the microsecond range
- Autogenerating microsecond solvers for nonlinear MPC: A tutorial using ACADO integrators
- Multiple Shooting in a Microsecond
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