Brief paper: Swing-up and stabilization of a Twin-Pendulum under state and control constraints by a fast NMPC scheme

Authors:
Mazen Alamir;André Murilo
Affiliations:
CNRS/GIPSA-Lab. SYSCO-Team, Domaine Universitaire, 38400 Saint Martin d'Hères, France;CNRS/GIPSA-Lab. SYSCO-Team, Domaine Universitaire, 38400 Saint Martin d'Hères, France
Venue:
Automatica (Journal of IFAC)
Year:
2008

Citing 2
Cited 2

Survey Constrained model predictive control: Stability and optimality

Automatica (Journal of IFAC)
Brief Swinging up a pendulum by energy control

Automatica (Journal of IFAC)

Swinging up and stabilization control of double Furuta pendulums by safe manual control

IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Simple model-free controller for the stabilization of planetary inverted pendulum

Journal of Control Science and Engineering

Quantified Score

Hi-index	22.14

Visualization

Abstract

In this paper, a real-time implementable Nonlinear Model Predictive Control scheme is proposed for the swing-up and the stabilization of a Twin-Pendulum system under control and state constraints. The basic feature lies in a particular parametrization of the set of candidate control profiles leading to a decision variable that may take only 3 admissible values. Simulations are proposed to assess the efficiency of the proposed feedback.