Predictive control for the stabilization of a fast mechatronic system : from simulation to real-time experiments

Touati, Nahla; Chemori, Ahmed

doi:10.3182/20130410-3-cn-2034.00031

Cited by 11 publications

(7 citation statements)

References 4 publications

(3 reference statements)

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“…As noted previously, it was assumed that the physical device of the IWIP was mechanically designed in order to minimize the effects of viscous frictions [31,34,35,53]. Thus, the frictions of the active and passive joints are completely neglected.…”

Section: Simulation Results Of the Limit Cycle Trackingmentioning

confidence: 99%

“…Qaiser et al [30] presented a novel nonlinear controller design by fusing the dynamic surface control and the control Lyapunov function method. In addition, Touati and Chemori [31] proposed a generalized predictive control scheme. They proved via experimentation the robustness of such controller against external disturbances and uncertainties in the inertia parameters of the IWIP.…”

Section: Literature Reviewmentioning

confidence: 99%

“…Hence, the IWIP is a planar mechanical system. This electromechanical system is controlled by a DC motor actuating the inertia wheel (see [31] for further descriptions of this system). The motor torque produces an angular acceleration of the rotating wheel, which generates a torque acting on the passive joint of the pendulum by means of the dynamic coupling.…”

Section: Structure Of the Papermentioning

confidence: 99%

“…According to [31,34,35,53], the physical device of the IWIP system ( Fig. 1) was mechanically designed so as to minimize the effects of viscous frictions.…”

Section: Dynamic Model Of the Iwipmentioning

confidence: 99%

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Self-generated limit cycle tracking of the underactuated inertia wheel inverted pendulum under IDA-PBC

et al. 2017

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This paper deals with the tracking approach of a self-generated stable limit cycle for an underactuated mechanical system: The Inertia Wheel Inverted Pendulum (IWIP). Such system is subject to unilateral constraints limiting its swing motion. It is known that an Interconnection and Damping Assignment-Passivity Based Control (IDA-PBC) can be employed to control such pendulum to its upright position. In this work, we briefly show first that the IWIP can generate a stable period-1 limit cycle through a Hopf bifurcation by varying some gain parameter of the IDA-PBC. Thus, such self-generated limit cycle is used as a reference trajectory, which is chosen to be tracked by the IWIP. To achieve the tracking problem, a supplementary control input is added. Such tracking problem is reformulated as an asymptotic stabilization of the tracking error. Our fundamental approach hinges mainly on the use of the S-procedure to introduce the unilateral constraints, and the Schur complement and the matrix inversion lemma to transform Bilinear Matrix Inequalities (BMI) into Linear Matrix Inequalities (LMI). Several simulations have been presented to corroborate the mathematical results and to show the efficiency of the proposed tracking scheme of the self-generated stable limit cycle of the controlled IWIP, even if it is subject to external disturbances, or in the presence of uncertainties in the friction parameters.

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Section: Simulation Results Of the Limit Cycle Trackingmentioning

confidence: 99%

Section: Literature Reviewmentioning

confidence: 99%

Section: Structure Of the Papermentioning

confidence: 99%

“…According to [31,34,35,53], the physical device of the IWIP system ( Fig. 1) was mechanically designed so as to minimize the effects of viscous frictions.…”

Section: Dynamic Model Of the Iwipmentioning

confidence: 99%

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Self-generated limit cycle tracking of the underactuated inertia wheel inverted pendulum under IDA-PBC

et al. 2017

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“…It is often used to demonstrate various concepts in linear and nonlinear control such as stabilization or swinging up of unstable systems [1]. This system belongs to the class of non-minimum systems because of its internal dynamics.…”

Section: Introductionmentioning

confidence: 99%

Achieving an Equilibrium Position of Pendubot Via Swing-Up and Stabilizing Model Predictive Control

Gulan¹,

Salaj²,

Rohal’-Ilkiv

2015

Journal of Electrical Engineering

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In this paper, a complex control strategy to swing-up and balance the under-actuated pendubot system in one of its unstable equilibrium positions is presented. The initial swing-up maneuver is performed using an energy-based approach. For the purposes of stabilizing the system in its mid unstable equilibrium position a model predictive controller based on optimal control law with integral action is proposed. Satisfaction of constraints is ensured by introducing perturbations in the LQ control law acting as corrections when input amplitude/rate bounds are to be exceeded. The stability issue is addressed via additional constraints imposed on the terminal set. The emphasis of the paper is on the experimental realization of the pendubot swing-up followed by its balancing, which reveals the accuracy of the proposed control scheme.

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Model-free control of the inertia wheel inverted pendulum with real-time experiments

Chemori

2017

The Inverted Pendulum in Control Theory and Robotics: From Theory to New Innovations

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HAL is a multidisciplinary open access archive for the deposit and dissemination of scientific research documents, whether they are published or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers. L'archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents scientifiques de niveau recherche, publiés ou non, émanant des établissements d'enseignement et de recherche français ou étrangers, des laboratoires publics ou privés.

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Predictive control for the stabilization of a fast mechatronic system : from simulation to real-time experiments

Cited by 11 publications

References 4 publications

Self-generated limit cycle tracking of the underactuated inertia wheel inverted pendulum under IDA-PBC

Self-generated limit cycle tracking of the underactuated inertia wheel inverted pendulum under IDA-PBC

Achieving an Equilibrium Position of Pendubot Via Swing-Up and Stabilizing Model Predictive Control

Model-free control of the inertia wheel inverted pendulum with real-time experiments

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