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

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 equation of the CIPS, its motion characteristics and control process are analyzed. Next, the given dynamic equation of the CIPS is linearized to obtain a series of linearized models at seven different pendulum angles. Then, seven model predictive controllers (MPCs) are designed based on the above-linearized models, respectively. Introducing the idea of the gain-schedule, a gain-scheduled MPC (GSMPC) is designed to switch one of these seven MPCs to realize the control objective of the CIPS, according to the actual pendulum angle of the SIP during the control process. Finally, multi-group simulations that consider the friction and disturbances of the CIPS are implemented to demonstrate the effectiveness of the proposed gain-scheduled model predictive control method.