Predictive Control for An Inverted Pendulum System Based on RBF-ARX Mode
LIU Lili
ZUO Jihong
WU Jun
LIAO Juanjuan
Abstract：The Inverted Pendulum System which is high order,nonlinear and coupled with each other makes it difficult to establish accurate mathematical model,for the problem,the design of predictive control algorithm based on RBF-ARX model were discussed.This modeling method is a combination model based on the theory of linear autoregressive (Auto-Regressive eXogenous,ARX) model and Gauss radial basis function (Radial Basis Function) neural network (RBF),it is used to construct the model of nonlinear system usually.Predictive control algorithm uses RBF-ARX model to predict multi-step's output forward,and feedback to the input in order to minimize the error according to the reference trajectory correction.The structure of the Inverted Pendulum System's RBF-ARX model is built firstly,then the model's parameters are identified and optimized.Take predictive control algorithm to control the inverted pendulum system based on this model,the simulation results verify the feasibility and validity of the method.
Keywords：inverted pendulum systemRBF-ARX modelpredictive control
Publication Date：2017-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：6( 1332-1336,1372 )