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

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20301 - Mechanical engineering

Projekt

—

Návaznosti

I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Rok uplatnění

2023

Kód důvěrnosti údajů

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

Název periodika

IEEE Access

ISSN

2169-3536

e-ISSN

2169-3536

Svazek periodika

11

Číslo periodika v rámci svazku

October

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

14

Strana od-do

103636-103649

Kód UT WoS článku

001081044300001

EID výsledku v databázi Scopus

2-s2.0-85173040860