Online Tuned Model Predictive Control for Robotic Systems with Bounded Noise
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F67985556%3A_____%2F17%3A00477603" target="_blank" >RIV/67985556:_____/17:00477603 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1109/MMAR.2017.8046912" target="_blank" >http://dx.doi.org/10.1109/MMAR.2017.8046912</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/MMAR.2017.8046912" target="_blank" >10.1109/MMAR.2017.8046912</a>
Alternative languages
Result language
angličtina
Original language name
Online Tuned Model Predictive Control for Robotic Systems with Bounded Noise
Original language description
This paper deals with a discrete predictive control design for motion control of robotic systems. The design considers time-varying state-space robot model. It is assumed that used robot state has to be estimated from measured robot outputs. These outputs represent controlled quantities including a bounded noise. Considering this arrangement, the paper introduces a novel solution to the state and noise parameter estimations based on linear programming that is incorporated in the control design. Estimated states are utilised for updating state-dependent elements in the robot model and for control design itself. Estimated noise parameters are employed in advanced tuning of control parameters, namely penalisation matrices. The proposed theoretical outcomes are demonstrated on one multi-input multi-output robot-manipulator as a specific representative of robotic systems.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
20205 - Automation and control systems
Result continuities
Project
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Continuities
I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace
Others
Publication year
2017
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Proceedings of the 22nd IEEE International Conference on Methods and Models in Automation and Robotics
ISBN
978-1-5386-2403-6
ISSN
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e-ISSN
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Number of pages
6
Pages from-to
694-699
Publisher name
West Pomeranian University of Technology
Place of publication
Szczecin
Event location
Miedzyzdroje
Event date
Aug 28, 2017
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000425229300125