Optimal control of double inverted pendulum

master's thesis

• Title (croatian): Optimalno upravljanje dvostrukim inverznim njihalom
• Author: Mate Bašić
• Mentor: Andrej Jokić (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2024-05-15, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering; Precision Mechanical Engineering

Abstract

In this thesis a model based control of an inverted pendulum on a cart is considered. The system’s dynamics is nonlinear, and for control synthesis purposes the nonlinear model is linearized around the upward position. The linearized model is then used for synthesis of linear quadratic regulator (LQR) and model predictive controller (MPC). In the MPC setting, terminal cost and terminal constraints have been incorporated and their impact on the closed-loop behavior has been analyzed. It is also shown that MPC can be used for double pendulum position reference tracking. Finally, two state estimation techiques are compared and analysed, the extended Kalman filter (EKF) and the unscented Kalman filter (UKF).

• Keywords: Double inverted pendulum on a cart; linear quadratic controller (LQR); model predictive control (MPC); extended Kalman filter (EKF); unscented Kalman filter (UKF)
• Language: english
• URN:NBN: urn:nbn:hr:235:483974
• Study programme: Title: Mechanical Engineering; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka strojarstva (magistar/magistra inženjer/inženjerka strojarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2024-05-09 06:23:21