Gain-Scheduled Model Predictive Control for Cart–Inverted-Pendulum with Friction and Disturbances

Gain-Scheduled Model Predictive Control for Cart–Inverted-Pendulum with Friction and Disturbances

The cart–inverted pendulum system (CIPS) is a typical example of underactuated mechanical systems. For the CIPS with friction and disturbances, a gain-scheduled model predictive control method is proposed to achieve the upright stabilization objective of the single inverted pendulum (SIP) while cont...

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Bibliographic Details
Main Authors:	Jue He, Yongbo Li, Ziang Wei, Zixin Huang
Format:	Article
Language:	English
Published:	MDPI AG 2023-12-01
Series:	Applied Sciences
Subjects:	gain-schedule model predictive control cart–inverted-pendulum underactuated mechanical system stabilization control
Online Access:	https://www.mdpi.com/2076-3417/13/24/13080

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