PTTIPTTI

Journal of Fuzzy Systems and ControlJournal of Fuzzy Systems and Control

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 performance comparable to non-adaptive MPC. However, the Adaptive MPC extends the arms operating range by up to 1.5 times, making it a promising solution for strongly nonlinear or time-varying systems like the RIP.

The study demonstrates that Adaptive MPC delivers good control performance and is well-suited for highly nonlinear systems with changing dynamics.While standard MPC provides comparable performance around a pre-linearized operating point with optimized control energy, Adaptive MPC excels when system dynamics significantly change due to varying operating conditions.The practical implementation of this controller is feasible, building upon previous work with non-adaptive MPC.

Penelitian lebih lanjut dapat dilakukan untuk mengeksplorasi penerapan Adaptive MPC pada sistem robotik yang lebih kompleks, seperti manipulator robot dengan banyak derajat kebebasan, untuk mengatasi tantangan nonlinearitas dan ketidakpastian yang lebih besar. Selain itu, studi komparatif yang mendalam perlu dilakukan untuk membandingkan kinerja Adaptive MPC dengan metode kontrol adaptif lainnya, seperti kontrol sliding mode atau kontrol fuzzy, dalam berbagai skenario operasional dan kondisi gangguan. Terakhir, pengembangan algoritma optimasi yang lebih efisien untuk menyelesaikan masalah optimasi MPC secara real-time, terutama untuk sistem dengan dimensi state yang tinggi, akan sangat bermanfaat untuk memperluas penerapan Adaptive MPC dalam aplikasi praktis, seperti kendali otonom dan robotika.

  1. Recent advances in adaptive MPC | IEEE Conference Publication | IEEE Xplore. recent advances adaptive... doi.org/10.1109/ICCAS.2010.5669892Recent advances in adaptive MPC IEEE Conference Publication IEEE Xplore recent advances adaptive doi 10 1109 ICCAS 2010 5669892
  2. A Survey of LQG over MPC and LQR Control for Rotary Inverted Pendulum - Robotica & Management. survey... doi.org/10.24193/rm.2024.2.2A Survey of LQG over MPC and LQR Control for Rotary Inverted Pendulum Robotica Management survey doi 10 24193 rm 2024 2 2
  3. Adaptive MPC for Iterative Tasks | IEEE Conference Publication | IEEE Xplore. adaptive mpc iterative... doi.org/10.1109/CDC.2018.8618694Adaptive MPC for Iterative Tasks IEEE Conference Publication IEEE Xplore adaptive mpc iterative doi 10 1109 CDC 2018 8618694
Read online
File size912.82 KB
Pages6
DMCAReport

Related /

JURIS Optimizing Catalyst Loading for Improved Quality of SF 05 in Hydrocracker Reactor C 3 03B at HCU RU V Balikpapan 2025More at 2025

UADUAD Karena katalis mendekati akhir masa pakai dan produk belum memenuhi spesifikasi, katalis (Change of Catalyst - COC) diganti dengan konfigurasi baru diKarena katalis mendekati akhir masa pakai dan produk belum memenuhi spesifikasi, katalis (Change of Catalyst - COC) diganti dengan konfigurasi baru di

JURIS Metal Adsorption in Batik Liquid Waste Using Adsorbents from Duck Eggshell and Durian Skin Waste 2025More at 2025

UADUAD Proses adsorpsi dilakukan dengan variasi waktu kontak 30, 90, dan 180 menit. Hasil penelitian menunjukkan penurunan kandungan logam Cu sebesar 27% danProses adsorpsi dilakukan dengan variasi waktu kontak 30, 90, dan 180 menit. Hasil penelitian menunjukkan penurunan kandungan logam Cu sebesar 27% dan

JURIS Mechanical Characteristics of Concrete with Addition of Nickel Slag Waste as Aggregates 2025More at 2025

UADUAD The addition of nickel slag increases the density and compressive strength of concrete, with fine slag providing a greater increase than coarse slag. TheThe addition of nickel slag increases the density and compressive strength of concrete, with fine slag providing a greater increase than coarse slag. The

JURIS Utilization of Coal Ash as an Ameliorant to Enhance Growth and Nutrient Availability for Chili Plants Capsicum annuum L on Peat Soil 2025More at 2025

UADUAD Peat soil has limitations in nutrient content and low pH, thus requiring improvement efforts to support optimal plant growth. This study aims to examinePeat soil has limitations in nutrient content and low pH, thus requiring improvement efforts to support optimal plant growth. This study aims to examine

JURIS Evaluation of Conventional Methods in Reducing Heavy Metal Concentrations in Industrial Waste 2025More at 2025

UADUAD Flotasi ion memanfaatkan surfaktan, meskipun efisiensinya bergantung pada kondisi operasional. Presipitasi kimia dengan kapur adalah solusi murah untukFlotasi ion memanfaatkan surfaktan, meskipun efisiensinya bergantung pada kondisi operasional. Presipitasi kimia dengan kapur adalah solusi murah untuk

JURIS Utilization of Snails as Liquid Organic Fertilizer POC with the Anaerobic Composter Tube Method 2025More at 2025

UADUAD Pada sampel 300 gram bekicot, nilai N 0,041%, P2O5 0,043%, dan K2O 0,050%. Analisis perbandingan pertumbuhan tanaman terong ungu yang diberi POC bekicotPada sampel 300 gram bekicot, nilai N 0,041%, P2O5 0,043%, dan K2O 0,050%. Analisis perbandingan pertumbuhan tanaman terong ungu yang diberi POC bekicot

JURIS Review Exploration of Squalene from Natural Materials as its Potential in Health and Food Fields 2025More at 2025

UADUAD However, traditional extraction methods, predominantly from shark liver, raise sustainability concerns. This study explores alternative sources and productionHowever, traditional extraction methods, predominantly from shark liver, raise sustainability concerns. This study explores alternative sources and production

JURIS Determinasi dan penerapan Rock Mass Rating untuk penilaian stabilitas lereng andesit di Seloharjo Bantul 2024More at 2024

LENTERADUALENTERADUA Kualitas tersebut dapat diidentifikasi melalui penilaian Rock Quality Designation (RQD) dengan nilai 43,37% di area penelitian. Berdasarkan analisis yangKualitas tersebut dapat diidentifikasi melalui penilaian Rock Quality Designation (RQD) dengan nilai 43,37% di area penelitian. Berdasarkan analisis yang

Useful /

JURIS Therapeutic Hypothermia In Severe Neonatal Hypoxic Ischemic Encephalopathy A Case Report And Literature Review 2026More at 2026

UnbrahUnbrah 7, base excess -20 mmol/L), and severe encephalopathy (Thompson score 15). Therapeutic hypothermia was initiated within 6 hours of birth and continued7, base excess -20 mmol/L), and severe encephalopathy (Thompson score 15). Therapeutic hypothermia was initiated within 6 hours of birth and continued

JURIS Kajian Penggunaan Daun Pisang Kering dalam Pematangan Buah Pisang Musa Paradisiaca L CV Kepok dengan Metode Pemeraman di Lubang Tanah 2025More at 2025

PENERBITGOODWOODPENERBITGOODWOOD Pengamatan dilakukan pada hari ke-4 dan hari ke-6, mengukur parameter seperti waktu pematangan, kekerasan buah, total padatan terlarut, kandungan vitaminPengamatan dilakukan pada hari ke-4 dan hari ke-6, mengukur parameter seperti waktu pematangan, kekerasan buah, total padatan terlarut, kandungan vitamin

JURIS A Study of Optimized LQR Control for Rotary Inverted Pendulum by Particle Swarm Optimization 2025More at 2025

PTTIPTTI Through the paper, optimized-LQR controllers based on PSO improve the response of a Rotary Inverted Pendulum (RIP) compared to a standard LQR controller,Through the paper, optimized-LQR controllers based on PSO improve the response of a Rotary Inverted Pendulum (RIP) compared to a standard LQR controller,

JURIS Evaluating the Implementation of Formal Early Childhood Education in Pesantren in South Sulawesi 2023More at 2023

UACUAC Penelitian ini memberikan kontribusi besar terkait bagaimana pelaksanaan evaluasi dilakukan dengan berbagai indikator yang mendasari. Keberadaan indikatorPenelitian ini memberikan kontribusi besar terkait bagaimana pelaksanaan evaluasi dilakukan dengan berbagai indikator yang mendasari. Keberadaan indikator

ads-block-test