Publisher DOI: | 10.1109/TCST.2020.2979386 | Title: | A Velocity Algorithm for Nonlinear Model Predictive Control | Language: | English | Authors: | Cisneros, Pablo S. G. Werner, Herbert |
Issue Date: | 9-Apr-2020 | Source: | IEEE Transactions on Control Systems Technology: 1-6 (2020) | Journal or Series Name: | IEEE Transactions on Control Systems Technology | Abstract (english): | This brief presents a velocity-form nonlinear model predictive control (NMPC) scheme via velocity-based linearization. The main features of this approach are built-in offset-free control in the presence of disturbances, tracking of piecewise constant, possibly unreachable, reference signals, and simple implementation, as a parameterization of all equilibria is not necessary. Furthermore, the model in velocity form can be expressed as a quasi-linear parameter-varying (quasi-LPV) model, for which efficient online optimization algorithms exist. The proposed approach is experimentally validated on a 2-degree-of-freedom robotic manipulator, where its capabilities and efficiency are highlighted. |
URI: | http://hdl.handle.net/11420/8424 | ISSN: | 1063-6536 | Institute: | Regelungstechnik E-14 | Document Type: | Article |
Appears in Collections: | Publications without fulltext |
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