Research on Nonlinear Model Predictive Control

Reports and Papers:

  • A. Divelbiss, J.T. Wen, ``Trajectory Tracking Control of a Car-Trailer System,'' IEEE Transaction on Control System Technology, 5(3), May, 1997, pp.269-278.
  • A. Divelbiss, J.T. Wen, ``A Path Space Approach to Nonholonomic Motion Planning in the Presence of Obstacles,'' IEEE Transaction on Robotics and Automation, 13(3), June, 1997, pp.443-451.
  • J.T. Wen, S. Seereeram, D.S. Bayard, ``Nonlinear Predictive Control applied to Spacecraft Attitude Control,'' 1997 American Control Conference, Albuquerque, NM, June, 1997.
  • R.K. Mehra, S. Seereeram, J.T. Wen, D.S. Bayard, ``Nonlinear Predictive Control for Spacecraft Trajectory Guidance, Navigation and Control,'' 1998 Space Technologies and Applications International Forum, Albuquerque, NM, Jan, 1998.
  • S. Seereeram, J.T. Wen, ``Kinematic Path Planning for Space-based Robotics,'' 1998 Space Technologies and Applications International Forum, Albuquerque, NM, Jan, 1998.
  • F. Lizarralde, J.T. Wen, L. Hsu, ``Feedback Stabilization of Nonlinear Systems: A Path Space iteration Approach,'' 1997 IEEE Conference on Decision and Control, San Diego, Dec., 1997.
  • D. Popa, J.T. Wen, "Feedback Stabilization of Nonlinear Affine Systems," 1999 Conference on Decision and Control, Pheonix, AZ, Dec, 1999.
  • F. Lizarralde, J.T. Wen, L. Hsu, "A New Model Predictive Control Strategy for Affine Nonlinear Control Systems," 1999 American Control Conference, San Diego, CA, June, 1999.
  • B. Potsaid, J.T. Wen, "Edubot: a Reconfigurable Kit for Control Education," 2000 Conference on Control Applications, Anchorage, Alaska, Sep. 2000.
  • B. Potsaid, J.T. Wen, "Edubot: a Reconfigurable Kit for Control Education Part II: Identification and Control," 2000 Conference on Control Applications, Anchorage, Alaska, Sep. 2000.
  • D.A. Miele, Benjamin Potsaid, John T. Wen, "An Internet-based Remote Laboratory for Control Education," 2001 American Control Conference, Arlington, VA, June, 2001.
  • D. Popa and J.T. Wen, "Singularity Computation for Iterative Control of Nonlinear Affine Systems," Asian Journal of Control, 2(2), June, 2000, pp.57-75.
  • S. Jung, J.T. Wen, “Nonlinear Model Predictive Control for the Swing-up of a Rotary Inverted Pendulum,” ASME J. on Dynamics, Measurements, & Control, Sept., 2004.
  •  J.T. Wen, S. Jung, “Nonlinear Model Predictive Control based on the Reduction of Predicted State Error,” Technical Report, July, 2003.
  •  J.T. Wen, F. Lizarralde, ``Nonlinear Model Predictive Control based on the Best-step Newton Algorithm,'' Conference on Control Applications, Taipei, Taiwan, Aug. 31--Sept. 2, 2004.
  •  J.T. Wen, S. Jung, ``Nonlinear Model Predictive Control based on Predicted State Error Convergence,'' American Control Conference, Boston, June 30-July 2, 2004.

Experimental testbed

Experimental Result (video) 

Full NMPC (both swing-up and balancing)

 

NMPC + linear balancing control

Acknowledgment
This work is supported in part by the National Science Foundation under grant CMS-9813099: Model Predictive Control for Nonlinear Mechanical Systems, in part by the Center for Automation Technologies under a block grant from the New York State Science and Technology Foundation, and the Scientific Systems Inc.

Contact Information:

John T. Wen
Office: CII 8213
Voice: (518)-276-8744
Fax: (518)-276-4897
Email: wen@cat.rpi.edu