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All Journal Journal of Fuzzy Systems and Control (JFSC)
Nguyen, Hai-Thanh
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Control & Systems Engineering Electrical & Electronics Engineering Energy Engineering

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Journal : Journal of Fuzzy Systems and Control (JFSC)

 1 
A Survey of Experimental LQR for Cart and Pole Hoang, Dai-Phuc; Nguyen, Hoang-An; Pham, Quang-Sang; Pham, Huu-Chi; Huynh, Minh-Son; Phan, Duy-Phong; Truong, Nhut-Thanh; Nguyen, Dinh-Phat; Nguyen, Tran-Tu-Uyen; Nguyen, Hai-Thanh
Journal of Fuzzy Systems and Control Vol. 2 No. 2 (2024): Vol. 2, No. 2, 2024
Publisher : Peneliti Teknologi Teknik Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59247/jfsc.v2i2.211

Abstract

This study explores using an LQR control for a balancing model of the inverted pendulum (IP) on a cart and pole system at the equilibrium point. The approach starts by deriving the system's motion equations by Lagrangian method. Moreover, real-world experiments are conducted to validate the proposed control strategy, demonstrating its practical applicability and robustness specifically in the context of stabilizing IP systems on carts. Thence, this model can be a standard training model for laboratory in control theory.
A Study of Adaptive Model Predictive Control for Rotary Inverted Pendulum Huynh, Phuc-Hoang; Le, Khac-Chan-Nguyen; Nguyen, Truong-Phuc; Tran, Hoang-Dang-Khoa; Dang, Su-Truong; Nguyen, Thanh-Quyen; Le, Thang-Phong; Nguyen, Huu-Hanh; Tran, Pham-Hong-Linh; Nguyen, Hau-Phuong; Nguyen, Hoang-Son; Nguyen, Tai-Truong; Nguyen, Hai-Thanh
Journal of Fuzzy Systems and Control Vol. 3 No. 2 (2025): Vol. 3, No. 2, 2025
Publisher : Peneliti Teknologi Teknik Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59247/jfsc.v3i2.302

Abstract

This paper proposes an Adaptive Model Predictive Control (MPC) approach for the rotary inverted pendulum (RIP). The method combines Linear Time-Varying (LTV) models at each sampling instant with a Linear Time-Varying Kalman Filter (LTVKF) for state estimation. By predicting and adapting to dynamic system changes, the controller achieves trajectory tracking performance comparable to non-adaptive MPC. However, the Adaptive MPC extends the arm’s operating range by up to 1.5 times, making it a promising solution for strongly nonlinear or time-varying systems like the RIP.
Co-Authors Dang, Su-Truong Hoang, Dai-Phuc Huynh, Minh-Son Huynh, Phuc-Hoang Le, Khac-Chan-Nguyen Le, Thang-Phong Nguyen, Dinh-Phat Nguyen, Hau-Phuong Nguyen, Hoang-An Nguyen, Hoang-Son Nguyen, Huu-Hanh Nguyen, Tai-Truong Nguyen, Thanh-Quyen Nguyen, Tran-Tu-Uyen Nguyen, Truong-Phuc Pham, Huu-Chi Pham, Quang-Sang Phan, Duy-Phong Tran, Hoang-Dang-Khoa Tran, Pham-Hong-Linh Truong, Nhut-Thanh