Optimal control of double inverted pendulum

diplomski rad

• Naslov (hrvatski): Optimalno upravljanje dvostrukim inverznim njihalom
• Autor: Mate Bašić
• Mentor: Andrej Jokić (mentor)
• Ustanova koja je dodijelila akademski / stručni stupanj: Sveučilište u Zagrebu; Fakultet strojarstva i brodogradnje; Zagreb
• Datum i država obrane: 2024-05-15, Hrvatska
• Znanstveno / umjetničko područje, polje i grana: TEHNIČKE ZNANOSTI; Strojarstvo; Precizno strojarstvo

Sažetak

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).

• Ključne riječi: Double inverted pendulum on a cart; linear quadratic controller (LQR); model predictive control (MPC); extended Kalman filter (EKF); unscented Kalman filter (UKF)
• Jezik: engleski
• URN:NBN: urn:nbn:hr:235:483974
• Studijski program: Naziv: Strojarstvo; Vrsta studija: sveučilišni; Stupanj studija: diplomski; Akademski / stručni naziv: magistar/magistra inženjer/inženjerka strojarstva (mag. ing. mech.)
• Vrsta resursa: Tekst
• Način izrade datoteke: Izvorno digitalna
• Prava pristupa: Otvoreni pristup
• Datum i vrijeme pohrane: 2024-05-09 06:23:21