Gain-Scheduled Model Predictive Control for Cart–Inverted-Pendulum with Friction and Disturbances
Jue He,
Yongbo Li,
Ziang Wei
et al.
Abstract: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 controlling the cart to reach a desired new position. To this end, first, a dynamic equation of the CIPS with friction and disturbances is formulated based on the Newton–Euler equation. On the basis of the dynamic equat… Show more
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