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Adaptive Kalman Filtering Model Predictive Controller Design for Stabilizing and Trajectory Tracking of Inverted Pendulum
The goal of this manuscript is to formulate a Kalman Filtering Model Predictive Controller (KFMPC) for control of cart position, cart velocity, angular position, and angular velocity of pendulum within a stable range under model uncertainties and disturbances. For designing of the KFMPC, a 4th-order linearized structure of the inverted pendulum system is taken. In this strategy, the conventional model predictive controller is re-formulated with a state estimator based on the Kalman filtering strategy to update the control actions. The approval of the updated control execution of KFMPC is built up by comparative outcome examination with other well-known control techniques. The comparative results obviously expose the better action of the proposed strategy to monitor the system outcomes inside the steady range as far as accuracy, robustness, and stability.
Adaptive Kalman Filtering Model Predictive Controller Design for Stabilizing and Trajectory Tracking of Inverted Pendulum
The goal of this manuscript is to formulate a Kalman Filtering Model Predictive Controller (KFMPC) for control of cart position, cart velocity, angular position, and angular velocity of pendulum within a stable range under model uncertainties and disturbances. For designing of the KFMPC, a 4th-order linearized structure of the inverted pendulum system is taken. In this strategy, the conventional model predictive controller is re-formulated with a state estimator based on the Kalman filtering strategy to update the control actions. The approval of the updated control execution of KFMPC is built up by comparative outcome examination with other well-known control techniques. The comparative results obviously expose the better action of the proposed strategy to monitor the system outcomes inside the steady range as far as accuracy, robustness, and stability.
Adaptive Kalman Filtering Model Predictive Controller Design for Stabilizing and Trajectory Tracking of Inverted Pendulum
J. Inst. Eng. India Ser. B
Patra, Akshaya Kumar (author)
Journal of The Institution of Engineers (India): Series B ; 101 ; 677-688
2020-12-01
12 pages
Article (Journal)
Electronic Resource
English
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