Tracking Control of Unforced and Forced Equilibrium Positions of the Pendubot System: A Nonlinear MHE and MPC Approach

Tracking Control of Unforced and Forced Equilibrium Positions of the Pendubot System: A Nonlinear MHE and MPC Approach

This paper presents a unified control scheme of the Pendubot based on nonlinear model predictive control (NMPC) and nonlinear moving horizon estimation (NMHE) with the objective of point-to-point tracking its unstable unforced and ultimately forced equilibrium positions. In order to implement it on...

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Bibliographic Details
Main Authors: Martin Gulan, Michal Salaj, Boris Rohaľ-Ilkiv
Format: Article
Language:English
Published: MDPI AG 2023-08-01
Series:Actuators
Subjects:
Pendubot
predictive control
state estimation
underactuated system
nonlinear optimization
Online Access:https://www.mdpi.com/2076-0825/12/9/343

Internet

https://www.mdpi.com/2076-0825/12/9/343

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