Temat: model based control - Katalog OPAC zbiorów

Skocz do pozycji: 1.

Tytuł:: Non‐linear model‐based predictive control for trajectory tracking and control effort minimization in a smartphone‐based quadrotor
Autorzy:: García, Luis
Rosero, Esteban
Powiązania:: https://bibliotekanauki.pl/articles/27314228.pdf
Data publikacji:: 2022
Wydawca:: Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:: quadrotor
model-based predictive control
smartphone
trajectory tracking
energy consumption
Opis:: In this paper, the design and implementation of a nonlinear model‐based predictive controller (NMPC) for predefined trajectory tracking and to minimize the control effort of a smartphone‐based quadrotor are developed. The optimal control actions are calculated in each iteration by means of an optimal control algorithm based on the non‐linear model of the quadrotor, considering some aerodynamic effects. Control algorithm implementation and simulation tests are executed on a smartphone using the CasADi framework. In addition, a technique for estimating the energy consumed based on control signals is presented. NMPC controller performance was compared with other works developed towards the con‐ trol of quadrotors, based on an H∞ controller and an LQI controller, and using three predefined trajectories, where the NMPC average tracking error was around 50% lower, and average estimated power and energy consumption slightly higher, with respect to the H∞ and LQI controllers.
Źródło:: Journal of Automation Mobile Robotics and Intelligent Systems; 2022, 16, 4; 13--18
1897-8649
2080-2145
Pojawia się w:: Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 2.

Tytuł:: EHMAC - a New Simple Tool for Robust Linear Multivariable Control
Autorzy:: Latawiec, K. J.
Rojek, R.
Powiązania:: https://bibliotekanauki.pl/articles/911218.pdf
Data publikacji:: 2000
Wydawca:: Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:: sterowanie wewnętrzne
sterowanie predykcyjne
sterowanie wielowymiarowe
internal model control
model-based predictive control
multivariable control
orthonormal basis functions
robust control
Opis:: A combination of long range predictive control-originated EHPC and internal model control-structured MAC is shown to produce a new, simple but effective Extended Horizon Model Algorithmic Control (EHMAC). The EHMAC strategy can be used to robustly control open-loop stable non-minimum phase (possibly non-square) MIMO systems under very large model-plant mismatches. Robust EHMAC design is made straightforward by means of a separate selection of a single prediction horizon and an IMC filter parameter, which can be easily auto-tuned.
Źródło:: International Journal of Applied Mathematics and Computer Science; 2000, 10, 3; 575-590
1641-876X
2083-8492
Pojawia się w:: International Journal of Applied Mathematics and Computer Science
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 3.

Tytuł:: Adaptive Predictive Controller Using Orthonormal Series Functions
Autorzy:: Oliveira, G. H. C.
Amaral, W. C.
Favier, G.
Powiązania:: https://bibliotekanauki.pl/articles/908308.pdf
Data publikacji:: 1999
Wydawca:: Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:: sterowanie predykcyjne
adaptacyjny układ sterowania
niepewność
model-based predictive control
adaptive control
uncertain process
orthonormal series functions
Opis:: A constrained adaptive predictive control method that uses uncertain process modelling based on orthonormal series functions is considered. Such unstructured modelling is described as a weighted sum of orthonormal functions using approximate information about the time constant of the process. The orthonormal series functions model can thus be used to derive a j-step-ahead output prediction according to the constrained adaptive predictive control law. In relation to predictive controllers based on structured models, this approach presents the advantage of not requiring prior knowledge of the order or time delay, which decrease prediction errors and lead to a better closed loop performance when these parameters are not well known. Stability issues of the proposed control scheme are discussed and, finally, a simulation example is given to show the performance of the algorithm.
Źródło:: International Journal of Applied Mathematics and Computer Science; 1999, 9, 1; 175-191
1641-876X
2083-8492
Pojawia się w:: International Journal of Applied Mathematics and Computer Science
Dostawca treści:: Biblioteka Nauki

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