Real-time approximate explicit nonlinear model predictive control for the swing-up of a reaction wheel pendulum

J. Sowman; Dina Shona Laila; S. Longo

doi:10.1109/CDC.2015.7402891

Real-time approximate explicit nonlinear model predictive control for the swing-up of a reaction wheel pendulum

J. Sowman, Dina Shona Laila, S. Longo

Research output: Chapter in Book/Report/Conference proceeding › Conference proceeding › peer-review

4 Citations (Scopus)

Abstract

In this paper, we show that nonlinear model predictive control (NMPC) demonstrates excellent performance in driving a reaction wheel pendulum to its unstable equilibrium at which the pendulum is inverted. We show that NMPC is capable of driving the system to this point from the stable equilibrium (i.e. the non-inverted position), often known as `swing-up'. This is as opposed to many common implementations in which two controllers are used - one for swing-up and another for stabilisation or balancing around the equilibrium. We derive an explicit version of the controller which provides a close approximation to the required control input, but can do so within the required sampling period. We demonstrate that this approach generates a real-time controller of a size and speed appropriate for embedded implementation on a microprocessor.

Original language	English
Title of host publication	2015 54th IEEE Conference on Decision and Control (CDC)
Publisher	IEEE
Pages	4308 - 4313
ISBN (Electronic)	978-1-4799-7886-1
DOIs	https://doi.org/10.1109/CDC.2015.7402891
Publication status	Published - 11 Feb 2016
Event	IEEE Conference on Decision and Control - Osaka, Japan Duration: 15 Dec 2015 → 18 Dec 2015

Conference

Conference	IEEE Conference on Decision and Control
Country/Territory	Japan
City	Osaka
Period	15/12/15 → 18/12/15

Bibliographical note

The full text is currently unavailable on the repository.

Keywords

Wheels
Optimization
Approximation algorithms
Real-time systems
Predictive control
Optimal control
Predictive models
stability
control system analysis computing
embedded systems
microprocessor chips
nonlinear control systems
pendulums
predictive control
sampling methods
microprocessor
real-time approximate explicit nonlinear model predictive control
reaction wheel pendulum swing-up
unstable equilibrium
NMPC
stable equilibrium
stabilisation
explicit controller version
sampling period
embedded implementation
underactuated systems
Nonlinear model predictive control
real-time control
reaction wheel pendulum
inverted pendulum

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10.1109/CDC.2015.7402891

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@inproceedings{a1fb5ab183c849d184f3a32444f4cfe8,

title = "Real-time approximate explicit nonlinear model predictive control for the swing-up of a reaction wheel pendulum",

abstract = "In this paper, we show that nonlinear model predictive control (NMPC) demonstrates excellent performance in driving a reaction wheel pendulum to its unstable equilibrium at which the pendulum is inverted. We show that NMPC is capable of driving the system to this point from the stable equilibrium (i.e. the non-inverted position), often known as `swing-up'. This is as opposed to many common implementations in which two controllers are used - one for swing-up and another for stabilisation or balancing around the equilibrium. We derive an explicit version of the controller which provides a close approximation to the required control input, but can do so within the required sampling period. We demonstrate that this approach generates a real-time controller of a size and speed appropriate for embedded implementation on a microprocessor.",

keywords = "Wheels, Optimization, Approximation algorithms, Real-time systems, Predictive control, Optimal control, Predictive models, stability, control system analysis computing, embedded systems, microprocessor chips, nonlinear control systems, pendulums, predictive control, sampling methods, microprocessor, real-time approximate explicit nonlinear model predictive control, reaction wheel pendulum swing-up, unstable equilibrium, NMPC, stable equilibrium, stabilisation, explicit controller version, sampling period, embedded implementation, underactuated systems, Nonlinear model predictive control, real-time control, reaction wheel pendulum, inverted pendulum",

author = "J. Sowman and Laila, {Dina Shona} and S. Longo",

note = "The full text is currently unavailable on the repository.; IEEE Conference on Decision and Control ; Conference date: 15-12-2015 Through 18-12-2015",

year = "2016",

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day = "11",

doi = "10.1109/CDC.2015.7402891",

language = "English",

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T1 - Real-time approximate explicit nonlinear model predictive control for the swing-up of a reaction wheel pendulum

AU - Sowman, J.

AU - Laila, Dina Shona

AU - Longo, S.

N1 - The full text is currently unavailable on the repository.

PY - 2016/2/11

Y1 - 2016/2/11

N2 - In this paper, we show that nonlinear model predictive control (NMPC) demonstrates excellent performance in driving a reaction wheel pendulum to its unstable equilibrium at which the pendulum is inverted. We show that NMPC is capable of driving the system to this point from the stable equilibrium (i.e. the non-inverted position), often known as `swing-up'. This is as opposed to many common implementations in which two controllers are used - one for swing-up and another for stabilisation or balancing around the equilibrium. We derive an explicit version of the controller which provides a close approximation to the required control input, but can do so within the required sampling period. We demonstrate that this approach generates a real-time controller of a size and speed appropriate for embedded implementation on a microprocessor.

AB - In this paper, we show that nonlinear model predictive control (NMPC) demonstrates excellent performance in driving a reaction wheel pendulum to its unstable equilibrium at which the pendulum is inverted. We show that NMPC is capable of driving the system to this point from the stable equilibrium (i.e. the non-inverted position), often known as `swing-up'. This is as opposed to many common implementations in which two controllers are used - one for swing-up and another for stabilisation or balancing around the equilibrium. We derive an explicit version of the controller which provides a close approximation to the required control input, but can do so within the required sampling period. We demonstrate that this approach generates a real-time controller of a size and speed appropriate for embedded implementation on a microprocessor.

KW - Wheels

KW - Optimization

KW - Approximation algorithms

KW - Real-time systems

KW - Predictive control

KW - Optimal control

KW - Predictive models

KW - stability

KW - control system analysis computing

KW - embedded systems

KW - microprocessor chips

KW - nonlinear control systems

KW - pendulums

KW - predictive control

KW - sampling methods

KW - microprocessor

KW - real-time approximate explicit nonlinear model predictive control

KW - reaction wheel pendulum swing-up

KW - unstable equilibrium

KW - NMPC

KW - stable equilibrium

KW - stabilisation

KW - explicit controller version

KW - sampling period

KW - embedded implementation

KW - underactuated systems

KW - Nonlinear model predictive control

KW - real-time control

KW - reaction wheel pendulum

KW - inverted pendulum

U2 - 10.1109/CDC.2015.7402891

DO - 10.1109/CDC.2015.7402891

M3 - Conference proceeding

SP - 4308

EP - 4313

BT - 2015 54th IEEE Conference on Decision and Control (CDC)

PB - IEEE

T2 - IEEE Conference on Decision and Control

Y2 - 15 December 2015 through 18 December 2015

ER -

Real-time approximate explicit nonlinear model predictive control for the swing-up of a reaction wheel pendulum

Abstract

Conference

Bibliographical note

Keywords

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