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Predictive control for the stabilization of a fast mechatronic system : from simulation to real-time experiments

Ahmed Chemori 1 Nahla Touati 2
1 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : In this paper a Generalized Predictive Control (GPC) scheme is proposed for the stabilization of a fast mechatronic system. Namely the inertia wheel inverted pendulum, which has two degrees of freedom and one actuator. The proposed control approach should be able to stabilize this system around its unstable equilibrium point and maintain it in this state. The efficiency and performance of the proposed control scheme are firstly illustrated through simulation results, then its robustness is shown through real-time experiments on the prototype of the system in question.
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00809710
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Submitted on : Tuesday, April 9, 2013 - 4:47:50 PM
Last modification on : Tuesday, December 17, 2019 - 2:10:57 AM
Long-term archiving on: : Wednesday, July 10, 2013 - 10:05:07 AM

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Ahmed Chemori, Nahla Touati. Predictive control for the stabilization of a fast mechatronic system : from simulation to real-time experiments. Symposium on Mechatronic Systems, Apr 2013, Hangzhou, China. pp.237-242, ⟨10.3182/20130410-3-CN-2034.00031⟩. ⟨lirmm-00809710⟩

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