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All Journal Journal of Fuzzy Systems and Control (JFSC)
Tran, Hoang-Dang-Khoa
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Control & Systems Engineering Electrical & Electronics Engineering Energy Engineering

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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 Huynh, Phuc-Hoang Le, Khac-Chan-Nguyen Le, Thang-Phong Nguyen, Hai-Thanh Nguyen, Hau-Phuong Nguyen, Hoang-Son Nguyen, Huu-Hanh Nguyen, Tai-Truong Nguyen, Thanh-Quyen Nguyen, Truong-Phuc Tran, Pham-Hong-Linh