Fast hybrid dual mode NMPC for a parallel double inverted pendulum with experimental validation

DOI10.1049/iet-cta.2020.0130zbMath1542.93092MaRDI QIDQ6608979

Oscar Gonzalez, Anthony Rossiter

Publication date: 20 September 2024

Published in: IET Control Theory \& Applications (Search for Journal in Brave)

zbMATH Keywords

stabilityrobust controliterative methodsnonlinear control systemspredictive controloptimisationKalman filtersexperimental validationcontinuous time systemsclosed loop systemspendulumsreal-time performancereal-time iteration schemeadditional energy-based costsdual-mode closed-loop predictionsfast hybrid dual mode NMPChybrid switching schemenonlinear model predictive control approachnonstandard discretised modelnumerically robust optimal solutionsonline system identification schemeparallel double inverted pendulumRTI scheme

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Estimation and detection in stochastic control theory (93E10) Identification in stochastic control theory (93E12) Control of mechanical systems (70Q05) Control/observation systems governed by functional relations other than differential equations (such as hybrid and switching systems) (93C30) Model predictive control (93B45)

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