Gradient-Based Model Predictive Control in a Pendulum System
(2012) In Technical Reports TFRT-7624- Abstract
- Model predictive control (MPC) is applied to a physical pendulum system consisting of a pendulum and a cart. The objective of the MPC controller is to steer the system towards precomputed, time-optimal feedforward trajectories that move the system from one stationary point to another. The sample time of the controller sets hard limitations on the execution time of the optimization algorithm in the MPC controller. The MPC optimization problem is stated as a quadratic program, which is solved using the algorithm presented in [10]. The algorithm in [10] is an accelerated gradient method that is applied to solve a dual formulation of the MPC optimization problem. Experiments show that the optimization algorithm is efficient enough to be... (More)
- Model predictive control (MPC) is applied to a physical pendulum system consisting of a pendulum and a cart. The objective of the MPC controller is to steer the system towards precomputed, time-optimal feedforward trajectories that move the system from one stationary point to another. The sample time of the controller sets hard limitations on the execution time of the optimization algorithm in the MPC controller. The MPC optimization problem is stated as a quadratic program, which is solved using the algorithm presented in [10]. The algorithm in [10] is an accelerated gradient method that is applied to solve a dual formulation of the MPC optimization problem. Experiments show that the optimization algorithm is efficient enough to be implemented in a real-time pendulum application. (Less)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/3128472
- author
- Giselsson, Pontus LU
- organization
- publishing date
- 2012
- type
- Book/Report
- publication status
- published
- subject
- keywords
- Model Predictive Control, Pendulum system, Gradient-Based Optimization
- in
- Technical Reports TFRT-7624
- publisher
- Department of Automatic Control, Lund Institute of Technology, Lund University
- ISSN
- 0280-5316
- language
- English
- LU publication?
- yes
- additional info
- month=October
- id
- 76aa52af-757d-4ef5-8243-e98c3031c6ae (old id 3128472)
- date added to LUP
- 2016-04-01 13:56:54
- date last changed
- 2018-11-21 20:21:27
@techreport{76aa52af-757d-4ef5-8243-e98c3031c6ae, abstract = {{Model predictive control (MPC) is applied to a physical pendulum system consisting of a pendulum and a cart. The objective of the MPC controller is to steer the system towards precomputed, time-optimal feedforward trajectories that move the system from one stationary point to another. The sample time of the controller sets hard limitations on the execution time of the optimization algorithm in the MPC controller. The MPC optimization problem is stated as a quadratic program, which is solved using the algorithm presented in [10]. The algorithm in [10] is an accelerated gradient method that is applied to solve a dual formulation of the MPC optimization problem. Experiments show that the optimization algorithm is efficient enough to be implemented in a real-time pendulum application.}}, author = {{Giselsson, Pontus}}, institution = {{Department of Automatic Control, Lund Institute of Technology, Lund University}}, issn = {{0280-5316}}, keywords = {{Model Predictive Control; Pendulum system; Gradient-Based Optimization}}, language = {{eng}}, series = {{Technical Reports TFRT-7624}}, title = {{Gradient-Based Model Predictive Control in a Pendulum System}}, url = {{https://lup.lub.lu.se/search/files/3680931/3128492.pdf}}, year = {{2012}}, }