Real-Time Swing-up of Double Inverted Pendulum by Nonlinear Model Predictive Control
نویسندگان
چکیده
In this study, the swing-up of a double inverted pendulum is controlled by nonlinear model predictive control (NMPC). The fast computation algorithm called C/GMRES (continuation/generalized minimal residual) is applied to solve a nonlinear two-point boundary value problem over a receding horizon in real time. The goal is to swing-up and stabilize two pendulums from the downward to upright position. To make the tuning process of the performance index simpler, the terminal cost in the performance index is given by a solution of the algebraic Riccati equation. The simulation results show that C/GMRES can solve the NMPC problem in real time and swingup the double inverted pendulum with a significant reduction in the computational cost compared with Newton’s method.
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