Stabilization of the double inverted pendulum based on discrete-time model predictive control.
ICAL（2011）
Abstract
The double inverted pendulum is an absolute unstable, high-order, multi-parameter, less-driven and nonlinear system. To stabilize the inverted pendulum, the incremental mathematical model of this system is built based on the Lagrangian mechanics. The discrete-time model predictive control based on the Laguerre series is a new novel control technology, which uses Laguerre series to represent the trace of control signal in the future and optimizes the trace simultaneously. What's more, the technology can bring in the digital integral factor in the control system to improve the ability of anti-interference. So it is applied to stabilize the double inverted pendulum. The simulation experiment shows that the control strategy is effective and practical. © 2011 IEEE.
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Key words
discrete-time model predictive control,double inverted pendulum,laguerre series,computer model,inverted pendulum,predictive models,mathematical model,acceleration,stability analysis,computational modeling,control system,prediction model,predictive control,discrete time,pendulums,control systems,model predictive control,stability
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