Name
Title | ||
|---|---|---|
Swing-up and stabilization of a Twin-Pendulum under state and control constraints by a fast NMPC scheme |
Abstract | ||
|---|---|---|
In this paper, a real-time implementable Nonlinear Model Predictive Control scheme is proposed for the swing-up and the stabilization of a Twin-Pendulum system under control and state constraints. The basic feature lies in a particular parametrization of the set of candidate control profiles leading to a decision variable that may take only 3 admissible values. Simulations are proposed to assess the efficiency of the proposed feedback. |
Year | DOI | Venue |
|---|---|---|
2008 | 10.1016/j.automatica.2007.09.020 | Automatica |
Keywords | Field | DocType |
Twin Pendulum,Swing-up,Constrained stabilization,Fast NMPC | Decision variables,Mathematical optimization,Parametrization,State constraint,Nonlinear control,Control theory,Model predictive control,Pendulum,Nonlinear model,Mathematics,Swing | Journal |
Volume | Issue | ISSN |
44 | 5 | 0005-1098 |
Citations | PageRank | References |
3 | 0.42 | 4 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Mazen Alamir | 1 | 114 | 35.25 |
| André Murilo | 2 | 7 | 2.70 |