43,156 research outputs found
Optimal control of nonlinear systems: a predictive control approach
A new nonlinear predictive control law for a class of multivariable nonlinear systems is presented in this paper. It is shown that the closed-loop dynamics under this nonlinear predictive controller explicitly depend on design parameters (prediction time and control order). The main features of this result are that an explicitly analytical form of the optimal predictive controller is given, on-line optimisation is not required, stability of the closed-loop system is guaranteed, the whole design procedure is transparent to designers and the resultant controller is easy to implement. By establishing the relationship between the design parameters and time-domain transient, it is shown that the design of an optimal generalised predictive controller to achieve desired time-domain specifications for nonlinear systems can be performed by looking up tables. The design procedure is illustrated by designing an autopilot for a missile
On Model Predictive Path Following and Trajectory Tracking for Industrial Robots
In this article we show how the model predictive path following controller
allows robotic manipulators to stop at obstructions in a way that model
predictive trajectory tracking controllers cannot. We present both controllers
as applied to robotic manipulators, simulations for a two-link manipulator
using an interior point solver, consider discretization of the optimal control
problem using collocation or Runge-Kutta, and discuss the real-time viability
of our implementation of the model predictive path following controller.Comment: Draft of article for CASE 201
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