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Nonlinear model predictive control of an inverted pendulum

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conference contribution
posted on 2025-05-09, 06:01 authored by Adam Mills, Adrian WillsAdrian Wills, Brett NinnessBrett Ninness
In this paper, nonlinear model predictive control is applied to an inverted pendulum apparatus. The sample interval for control calculations is 25 milli-seconds and the associated non-convex constrained optimisation problem involves 61-variables with 241-constraints. Despite this being a challenging problem, it was solved online using a standard sequential quadratic programming approach on a modest hardware platform. The efficacy of the control algorithm is validated via experimental results.

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  1. 1.
    DOI - Is published in https://doi.org/10.1109/ACC.2009.5160391
  2. 2.
    ISBN - Is version of urn:isbn:9781424445233
  3. 3.
    ISSN - Is version of https://portal.issn.org/resource/ISSN/0743-1619

Source title

Proceedings of the American Control Conference 2009

Name of conference

American Control Conference, 2009 (ACC'09)

Location

St Louis, MO

Start date

2009-06-10

End date

2009-06-12

Pagination

2335-2340

Publisher

Institute of Electrical and Electronics Engineers (IEEE)

Place published

Piscataway, NJ

Language

  • en, English

College/Research Centre

Faculty of Engineering and Built Environment

School

School of Electrical Engineering and Computer Science

Rights statement

Copyright © 2009 IEEE. Reprinted from Proceedings of the American Control Conference 2009. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of University of Newcastle's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.

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    Keywords

    hardware platformsinverted pendulumsnonconvex constrained optimisation problemsnonlinear model predictive controlssample intervalsstandard sequential quadratic programming approaches

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    All rights reserved

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