A TV-MPC Methodology for Uncertain Under-Actuated Systems: A Rotary Inverted Pendulum Case Study

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F23%3A00373269" target="_blank" >RIV/68407700:21220/23:00373269 - isvavai.cz</a>

Result on the web

<a href="https://doi.org/10.1109/ACCESS.2023.3318108" target="_blank" >https://doi.org/10.1109/ACCESS.2023.3318108</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/ACCESS.2023.3318108" target="_blank" >10.1109/ACCESS.2023.3318108</a>

Result language

angličtina

Original language name

A TV-MPC Methodology for Uncertain Under-Actuated Systems: A Rotary Inverted Pendulum Case Study

Original language description

This paper presents a systematic approach of formulating a Time-Varying Model Predictive Control (TV-MPC) framework for uncertain and under-actuated mechanical systems. The proposed methodology utilizes the nonlinear decomposed dynamics in conjunction with a special class of orthonormal basis functions - the Laguerre functions in the model structure. A possible numerical ill-conditioning problem, for large prediction horizons, has been coped with using the idea of exponential data weighting in the cost function, which results in condition number improvement, for the main TV-MPC algorithm. A rotary inverted pendulum is considered as a case study under-actuated system. The content of this research revolves around the TV-MPC treatment for cubic polynomial type reference position tracking problem using the decomposed nonlinear dynamics in the TV-MPC model structure and using Laguerre functions for future control trajectory modeling and motion predictions of the rotary servo arm and the pendulum bar. Finally, the applicability of TV-MPC algorithm is demonstrated with the help of simulation results for the subject benchmark system.

Czech name

—

Czech description

—

Type

J_imp - Article in a specialist periodical, which is included in the Web of Science database

CEP classification

—

OECD FORD branch

20301 - Mechanical engineering

Project

—

Continuities

I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Publication year

2023

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

IEEE Access

ISSN

2169-3536

e-ISSN

2169-3536

Volume of the periodical

11

Issue of the periodical within the volume

October

Country of publishing house

US - UNITED STATES

Number of pages

14

Pages from-to

103636-103649

UT code for WoS article

001081044300001

EID of the result in the Scopus database

2-s2.0-85173040860