Soft Constrained Warm Start based MPC-PD Approach for Real Time Control of Underactuated Systems
Keywords:
Model predictive control, Nonlinear system, Warm startAbstract
Controller design for unstable underactuated systems has predominantly focused on fixed value control strategies. However, integrating the benefits of fixed value control with predictive control approaches remains a relatively under explored area for such systems. This article introduces a real time dual control strategy that combines Proportional Derivative (PD) control and Model Predictive Control (MPC) methods. The MPC uses a warm start and anticipates the future actuator movements, without constraint violation. The PD control provides an inner velocity control loop to reduce oscillations. By state augmentation, quadratic optimisation is implemented to find the optimum solution without violating the constraints. The proposed strategy has been implemented in real time on a rotary inverted pendulum system, designed to guide the arm along a trajectory while maintaining the pendulum upright. A comparative experimental study is conducted on this benchmark system, evaluating the proposed dual controller against a conventional MPC, with the proposed controller achieving better performance.
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