A Nonlinear Programming Approach For The Swing-Up Control Problem

Year 2008, Volume: 21 Issue: 2, 109 - 124, 31.12.2008

Ahmet Yazıcı , Abdurrahman Karamancıoğlu

Abstract

A nonlinear programming approach for the inverted pendulum swing-up control is presented. Even though it is an energy-based method, it uses fundamentally different mathematical tools to achieve the swing-up goal. The control problem translated into nonlinear programming model with appropriate objective function and constraints. While the objective function provides energy increase in the system, physical restrictions of the system are handled in the constraints of the nonlinear programming model. It is also shown that this model is intrinsically suitable for embedding any nonlinear system constraints. Simulation results for illustrative cases are included to validate the design method.

Keywords

Swing-up control problem, Inverted pendulum, Underactuated systems, Nonlinear Programming, Energy based methods.

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