Adaptive Kalman Filtering Model Predictive Controller Design for Stabilizing and Trajectory Tracking of Inverted Pendulum

The goal of this manuscript is to formulate a Kalman Filtering Model Predictive Controller (KFMPC) for control of cart position, cart velocity, angular position, and angular velocity of pendulum within a stable range under model uncertainties and disturbances. For designing of the KFMPC, a 4th-order...

Full description

Saved in:
Bibliographic Details
Published in:Journal of the Institution of Engineers (India). Series B, Electrical Engineering, Electronics and telecommunication engineering, Computer engineering Electrical Engineering, Electronics and telecommunication engineering, Computer engineering, 2020-12, Vol.101 (6), p.677-688
Main Author: Patra, Akshaya Kumar
Format: Article
Language:English
Subjects:
Communications Engineering
Engineering
Networks
Original Contribution
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:The goal of this manuscript is to formulate a Kalman Filtering Model Predictive Controller (KFMPC) for control of cart position, cart velocity, angular position, and angular velocity of pendulum within a stable range under model uncertainties and disturbances. For designing of the KFMPC, a 4th-order linearized structure of the inverted pendulum system is taken. In this strategy, the conventional model predictive controller is re-formulated with a state estimator based on the Kalman filtering strategy to update the control actions. The approval of the updated control execution of KFMPC is built up by comparative outcome examination with other well-known control techniques. The comparative results obviously expose the better action of the proposed strategy to monitor the system outcomes inside the steady range as far as accuracy, robustness, and stability.
ISSN:2250-2106
2250-2114
DOI:10.1007/s40031-020-00490-5