Discrete Laguerre based MPC for Constrained Asymptotic Stabilization of 4 DOF Ball Balancer Systems

摘要

This paper presents the detailed analysis and the efficacies of unique orthonormal Laguerre functions for two-dimensional electromechanical ball balancer (BB) systems. The work is extended to the moving time window control optimization using model predictive control (MPC) for linear two-dimensional ball balancer (2DBB) systems which reduced the settling time with minimum energy consumption. It utilizes the quadratic cost function similar to that of Linear Quadratic Regulator (LQR). The performance of the Discrete Time Linear Model Predictive Controller (DLMPC) strategy for four degrees of freedom (DOF) ball and plate systems is analyzed by performing simulation studies with regards to ball stabilization.