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Gradient-Based Model Predictive Control in a Pendulum System

In English

Författare

Summary, in English

Model predictive control (MPC) is applied to a physical pendulum system consisting of a pendulum and a cart. The objective of the MPC controller is to steer the system towards precomputed, time-optimal feedforward trajectories that move the system from one stationary point to another. The sample time of the controller sets hard limitations on the execution time of the optimization algorithm in the MPC controller. The MPC optimization problem is stated as a quadratic program, which is solved using the algorithm presented in [10]. The algorithm in [10] is an accelerated gradient method that is applied to solve a dual formulation of the MPC optimization problem. Experiments show that the optimization algorithm is efficient enough to be implemented in a real-time pendulum application.

Publiceringsår

2012

Språk

Engelska

Publikation/Tidskrift/Serie

Technical Reports TFRT-7624

Dokumenttyp

Rapport

Förlag

Department of Automatic Control, Lund Institute of Technology, Lund University

Ämne

  • Control Engineering

Nyckelord

  • Model Predictive Control
  • Pendulum system
  • Gradient-Based Optimization

Status

Published

Forskningsgrupp

  • LCCC

ISBN/ISSN/Övrigt

  • ISSN: 0280-5316