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Please use this identifier to cite or link to this item: http://hdl.handle.net/1959.13/918924
- Nonlinear model predictive control of an inverted pendulum
- The University of Newcastle. Faculty of Engineering & Built Environment, School of Electrical Engineering and Computer Science
- 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.
- 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
- Institute of Electrical and Electronics Engineers (IEEE)
nonconvex constrained optimisation problems;
nonlinear model predictive controls;
standard sequential quadratic programming approaches
- Resource Type
- conference paper
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