Title :
Nonlinear model predictive control of an inverted pendulum
Author :
Mills, Adam ; Wills, Adrian ; Ninness, Brett
Author_Institution :
Sch. of Electr. Eng. & Comput. Sci., Univ. of Newcastle, Callaghan, NSW, Australia
Abstract :
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.
Keywords :
concave programming; nonlinear control systems; pendulums; predictive control; quadratic programming; hardware platform; inverted pendulum; nonconvex constrained optimisation problem; nonlinear model predictive control; sample interval; standard sequential quadratic programming approach; Circuit simulation; Computational modeling; Constraint optimization; Displays; Hardware; Milling machines; Predictive control; Predictive models; Quadratic programming; Vehicle dynamics;
Conference_Titel :
American Control Conference, 2009. ACC '09.
Conference_Location :
St. Louis, MO
Print_ISBN :
978-1-4244-4523-3
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2009.5160391
