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Trajectory tracking and point stability of three-axis aero-dynamic pendulum with MPC strategy in disturbance environment

Xiaofeng Liu (College of IoT Engineering, Hohai University, Changzhou, China)
Jiahong Xu (Jiangsu Key Laboratory of Special Robots, Changzhou, China)
Yuhong Liu (Changzhou Key Laboratory of Robots and intelligence Technology, Changzhou, China)

Assembly Automation

ISSN: 0144-5154

Article publication date: 14 June 2021

Issue publication date: 22 July 2021




The purpose of this research on the control of three-axis aero-dynamic pendulum with disturbance is to facilitate the applications of equipment with similar pendulum structure in intelligent manufacturing and robot.


The controller proposed in this paper is mainly implemented in the following ways. First, the kinematic model of the three-axis aero-dynamic pendulum is derived in state space form to construct the predictive model. Then, according to the predictive model and objective function, the control problem can be expressed a quadratic programming (QP) problem. The optimal solution of the QP problem at each sampling time is the value of control variable.


The trajectory tracking and point stability tests performed on the 3D space with different disturbances are validated and the results show the effectiveness of the proposed control strategy.


This paper proposes a nonlinear unstable three-axis aero-dynamic pendulum with less power devices. Meanwhile, the trajectory tracking and point stability problem of the pendulum system is investigated with the model predictive control strategy.



This work was supported in part by the Key Research and Development Program of Jiangsu under grants BK20192004 and BE2018004, the project of the National Natural Science Foundation of China 61803381, the Projects of International Cooperation and Exchanges of Changzhou under grant CZ20200035, the Open Research Fund of State Key Laboratory of Bioelectronics, Southeast University under grant 2019005, the State Key Laboratory of Integrated Management of Pest Insects and Rodents under grant IPM1914, and Guangdong Forestry Science and Technology Innovation Project grant 2020KJCX005.


Liu, X., Xu, J. and Liu, Y. (2021), "Trajectory tracking and point stability of three-axis aero-dynamic pendulum with MPC strategy in disturbance environment", Assembly Automation, Vol. 41 No. 3, pp. 358-368.



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