Design of Output Feedback Nonlinear Model Predictive Control for Inverted Pendulum on Cart

被引：0

作者：

Pinyopawasutthi, Petchakrit ^{[1
]}

Banjerdpongchai, David ^{[1
]}

Oishi, Yasuaki ^{[2
]}

机构：

[1] Chulalongkorn Univ, Fac Engn, Dept Elect Engn, Intelligent Control Automat Proc Syst iCAPS Res U, 254 Phayathai Rd, Bangkok 10330, Thailand

[2] Nazan Univ, Fac Sci & Engn, Dept Mechatron, Showa Ku, Yamazatocho 18, Nagoya, Aichi 4668673, Japan

来源：

2018 18TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS) | 2018年

关键词：

optimal control; nonlinear systems; nonlinear model predictive control; state observer; inverted pendulum on cart;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents designing of output feedback nonlinear model predictive control (NMPC) for nonlinear systems. NMPC employs the state feedback and updates the control input at each sampling step. The control design of NMPC is formulated as optimal control which requires the information of states of the process. However, in practice, we can measure only some states of the process. This paper aims to use the state observer to estimate the unknown states and use them as feedback for NMPC. We apply output feedback NMPC to inverted pendulum on cart. Numerical results show the response of output feedback NMPC asymptotically converges to that or state feedback NMPC.

引用

页码：1181 / 1186

页数：6

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