A non-linear model predictive controller with obstacle avoidance for a space robot

2016 ◽  
Vol 57 (8) ◽  
pp. 1737-1746 ◽  
Author(s):  
Mingming Wang ◽  
Jianjun Luo ◽  
Ulrich Walter
Keyword(s):  
Linear Model ◽  
Obstacle Avoidance ◽  
Space Robot ◽  
Model Predictive Controller ◽  
Non Linear ◽  
Predictive Controller

scholarly journals Stabilization of Furuta Pendulum Using Nonlinear MPC

2019 ◽  
Vol 27 (45) ◽  
pp. 42-48
Author(s):  
Matúš Furka ◽  
Martin Klaučo ◽  
Michal Kvasnica
Keyword(s):  
Mathematical Model ◽  
Linear Model ◽  
Model Predictive Controller ◽  
Motion Equations ◽  
Simulation Validation ◽  
Non Linear ◽  
Predictive Controller

Abstract This paper is devoted to design of a non-linear model predictive controller (NMPC), which will swing-up and stabilize an inverse rotary pendulum known as the Furuta Pendulum. This paper presents a simulation validation of the NMPC strategy using a full-fidelity non-linear mathematical model of the Furuta pendulum obtained from the Euler-Lagrange motion equations. The NMPC strategy was implemented in MATLAB using the MATMPC toolbox.

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