Comparison of the performance of controllers for under-actuated systems

Joshi, Sidharth; Singh, Abhaya Pal

doi:10.1109/icpeices.2016.7853055

Cited by 4 publications

(1 citation statement)

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“…The best example one can think of is an inverted pendulum on a cart (POAC) which is the foundation of all the robots in under-actuated upright balance category. The POAC is a benchmark problem in the field of control and dynamical theory and this widely used in testing various control related algorithms such as-PID controllers [1,25] neural networks [3], fuzzy control [2], genetic algorithms [4], PSO, PID based [18], etc. In this paper this benchmark problem is considered and the author tried to give a novel fractional model predictive control (FMPC) for the POAC.…”

Section: Introductionmentioning

confidence: 99%

Robust Fractional Model Predictive Controller (FMPC) Design for Under-Actuated Robotic Systems

Singh¹,

Agrawal²,

Srivastava³

2018

IJCA

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In this paper a novel robust fractional model predictive controller is designed for under-actuated robotic system. The considered under-actuated robotic system is an inverted pendulum on a cart system with two degree of freedom and a control input. The system is modeled to its fractional equivalent model and approximated from the Oustaloup-Recursive-Approximation. From the approximated model a best model is chosen and fractional model predictive controller is designed. Robustness of the fractional model predictive controller is checked to the variations of the system parameters of inverted pendulum on a cart system.

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