- Title
- Nonlinear model predictive control of an inverted pendulum
- Creator
- Mills, Adam; Wills, Adrian; Ninness, Brett
- Relation
- American Control Conference, 2009 (ACC'09). Proceedings of the American Control Conference 2009 (St Louis, MO 10-12 June, 2009) p. 2335-2340
- Publisher Link
- http://dx.doi.org/10.1109/ACC.2009.5160391
- Publisher
- Institute of Electrical and Electronics Engineers (IEEE)
- Resource Type
- conference paper
- Date
- 2009
- Description
- In this paper, nonlinear model predictive control is applied to an inverted pendulum apparatus. The sample interval for control calculations is 25 milli-seconds and the associated non-convex constrained optimisation problem involves 61-variables with 241-constraints. Despite this being a challenging problem, it was solved online using a standard sequential quadratic programming approach on a modest hardware platform. The efficacy of the control algorithm is validated via experimental results.
- Subject
- hardware platforms; inverted pendulums; nonconvex constrained optimisation problems; nonlinear model predictive controls; sample intervals; standard sequential quadratic programming approaches
- Identifier
- http://hdl.handle.net/1959.13/918924
- Identifier
- uon:8740
- Identifier
- ISBN:9781424445233
- Identifier
- ISSN:0743-1619
- Rights
- Copyright © 2009 IEEE. Reprinted from Proceedings of the American Control Conference 2009. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of University of Newcastle's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.
- Language
- eng
- Full Text
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