Journal of Fuzzy Systems and Control (JFSC)
Vol. 3 No. 2 (2025): Vol. 3, No. 2, 2025

A Study of Adaptive Model Predictive Control for Rotary Inverted Pendulum

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

Article Info

Publish Date
29 May 2025

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.

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Journal Info
Journal of Fuzzy Systems and Control (JFSC)
Website

Abbrev

jfsc

Publisher

Peneliti Teknologi Teknik Indonesia

Subject

Control & Systems Engineering Electrical & Electronics Engineering Energy Engineering

Description

Journal of Fuzzy Systems and Control is an international peer review journal that published papers about Fuzzy Logic and Control Systems. The Journal of Fuzzy Systems and Control should encompass original research articles, review articles, and case studies that contribute to the advancement of the ...