A Robust Model Predictive Control for Balancing of an Inverted Pendulum
نویسندگان
چکیده
منابع مشابه
Intermittent Predictive Control of an Inverted Pendulum
Intermittent predictive pole-placement control is successfully applied to the constrained-state control of a prestabilised experimental inverted pendulum.
متن کاملUncertain inference control for balancing an inverted pendulum
Fuzzy inference control uses fuzzy sets to describe the antecedents and consequents of If-Then rules. However, most surveys show the antecedents and consequents are uncertain sets rather than fuzzy sets. This fact provides a motivation to invent an uncertain inference control method. This paper gives an introduction to the design procedures of uncertain inference controller. As an example, an u...
متن کاملEvolving neurocontrollers for balancing an inverted pendulum.
This paper introduces an evolutionary algorithm that is tailored to generate recurrent neural networks functioning as nonlinear controllers. Network size and architecture, as well as network parameters like weights and bias terms, are developed simultaneously. There is no quantization of inputs, outputs or internal parameters. Different kinds of evolved networks are presented that solve the pol...
متن کاملRobust Control of an Inverted Pendulum on a Cart
This paper investigates the design and analysis of three controllers used to stabilize an inverted pendulum on a cart. This is accomplished by decomposing each control algorithm into two separate phases: swing-up control and stabilization control. A classical, H2, and H∞ design are each considered to stabilize a nominal linearized model of the inverted pendulum on a cart in the upward vertical ...
متن کاملModelling and Predictive Control of Inverted Pendulum
The paper is focused on creating a model of Inverted pendulum system and subsequent usage of this model to design a predictive controller of inverted pendulum system. The model is obtained on base of mathematical physical analysis of the system. Unknown parameters of the model are obtained from real-time experiments on the PS600 Inverted pendulum system. The model is designed in MATLAB/Simulink...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Indian Journal of Science and Technology
سال: 2016
ISSN: 0974-5645,0974-6846
DOI: 10.17485/ijst/2016/v9i25/96604