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

[1] TOUATI, N.–CHEMORI, A.: Predictive Control for the Stabilization of a Fast Mechatronic System: from Simulation to Real-Time Experiments, The 6th IFAC Symposium on Mecha-tronic Systems, Hangzhou, China, 2013.10.3182/20130410-3-CN-2034.00031Search in Google Scholar

[2] MAYNE, D. Q.–RAWLINGS, J. B.–RAO, C. V.–SCO-KAERT, P. O. M.: Constrained Model Predictive Control: Stability and Optimality, Automatica 36 No. 6 (2000), 789-814.10.1016/S0005-1098(99)00214-9Search in Google Scholar

[3] FANTONI, I.–LOZANO, R.: Non-Linear Control for Under-actuated Mechanical Systems, The Institution of Electrical Engineers, London, 2001.10.1007/978-1-4471-0177-2Search in Google Scholar

[4] XIN, X.–TANAKA, S.–SHE, J.–YAMASAKI, T: New Analytical Results of Energy-Based Swing-Up Control for the Pendubot, International Journal of Non-Linear Mechanics 52 (2013), 110-118.10.1016/j.ijnonlinmec.2013.02.003Search in Google Scholar

[5] SPONG, M. W.–BLOCK, D. J.: The Pendubot: a Mechatronic System for Control Research and Education, Proceedings of the 34th IEEE Conference on Decision & Control, 1995, vol. 1, Dec 1995, pp. 65-73.Search in Google Scholar

[6] BLOCK, D. J.: Mechanical Design and Control of the Pen-dubot, Master's thesis, University of Illinois, 1996.Search in Google Scholar

[7] FANTONI, I.–LOZANO, R.–SPONG, M. W.: Energy Based Control of the Pendubot, IEEE Transactions on Automatic Control 45 No. 4 (2000), 725-729.10.1109/9.847110Search in Google Scholar

[8] LEE, K.–COVERSTONE-CARROLL, V.: Control Algorithms for Stabilizing Underactuated Robots, Journal of Robotic Systems 15 No. 12 (1998), 681-697.10.1002/(SICI)1097-4563(199812)15:12<681::AID-ROB2>3.0.CO;2-PSearch in Google Scholar

[9] ÅTRÖM, K. J.–FURUTA, K.: Swinging up a Pendulum by Energy Control, Automatica 36 No. 2 (2000), 287-295.10.1016/S0005-1098(99)00140-5Search in Google Scholar

[10] ANTSAKLIS, P. J.–MICHEL, A. N.: Linear Systems, Birk-häuser, Boston, 2006.Search in Google Scholar

[11] ROSSITER, J. A.: Model-Based Predictive Control: A Practical Approach, CRC Press, Boca Raton, 2003.Search in Google Scholar

[12] ROSSITER, J. A.–KOUVARITAKIS, B.–RICE, M. J.: A Numerically Robust State-Space Approach to Stable-Predictive Control Strategies, Automatica 34 No. 1 (1998), 65-73.10.1016/S0005-1098(97)00171-4Search in Google Scholar

[13] KOUVARITAKIS, B.–LEE, Y. I.–TORTORA, G.–CAN-NON, M.: MPC Stability Constraints and their Implementations, Preprints from the IFAC Conference Control Systems Design, Bratislava, Slovakia, 2000, pp. 205-212.10.1016/S1474-6670(17)37191-4Search in Google Scholar

[14] BLANCHINI, F.: Set Invariance in Control, Automatica 35 No. 11 (1999), 1747-1767.10.1016/S0005-1098(99)00113-2Search in Google Scholar

[15] KARAS, A.–ROHAĽ-ILKIV, B.–BELAVÝ, C: Praktické As-pekty Prediktívneho Riadenia, Slovak University of Technology / Slovensk´ e-akadémia, Bratislava, 2006. (In Slovak)Search in Google Scholar

[16] FERREAU, H. J.–BOCK, H. G.–DIEHL, M.: An online active set strategy to overcome the limitations of explicit MPC, International Journal of Robust and Nonlinear Control 18 No. 8 (2008), 816-830.10.1002/rnc.1251Search in Google Scholar