TY  - CHAP
U1  - Konferenzveröffentlichung
A1  - Homburger, Hannes
A1  - Wirtensohn, Stefan
A1  - Reuter, Johannes
T1  - Swinging Up and Stabilization Control of the Furuta Pendulum using Model Predictive Path Integral Control
T2  - Proceedings of the 30th Mediterranean Conference on Control and Automation (MED), 28. June - 1. July 2022, Vouliagmeni, Greece
N2  - This paper presents the swinging up and stabilization control of a Furuta pendulum using the recently published nonlinear Model Predictive Path Integral (MPPI) approach. This algorithm is based on a path integral over stochastic trajectories and can be parallelized easily. The controller parameters are tuned offline regarding the nonlinear system dynamics and simulations. Constraints in terms of state and input are taken into account in the cost function. The presented approach sequentially computes an optimal control sequence that minimizes this optimal control problem online. The control strategy has been tested in full-scale experiments using a pendulum prototype. The investigated MPPI controller has demonstrated excellent performance in simulation for the swinging up and stabilizing task. In order to also achieve outstanding performance in a real-world experiment using a controller with limited computing power, a linear quadratic controller (LQR) is designed for the stabilization task. In this paper, the determination of the controller parameters for the MPPI algorithm is described in detail. Further, a discussion treats the advantages of the nonlinear MPPI control.
Y1  - 2022
SN  - 978-1-6654-0673-4
SB  - 978-1-6654-0673-4
U6  - https://doi.org/10.1109/MED54222.2022.9837274
DO  - https://doi.org/10.1109/MED54222.2022.9837274
N1  - Volltext für Angehörige der Hochschule Konstanz via Datenbank IEEE Xplore abrufbar.
SP  - 7
EP  - 12
PB  - IEEE
ER  -