|Publisher DOI:||10.1109/TCST.2020.2979386||Title:||A Velocity Algorithm for Nonlinear Model Predictive Control||Language:||English||Authors:||Cisneros, Pablo S. G.
|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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