Model Predictive Control with Reference Anisotropic Control for Robot Motion with Disturbed Measured Outputs

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F67985556%3A_____%2F20%3A00524380" target="_blank" >RIV/67985556:_____/20:00524380 - isvavai.cz</a>

Result on the web

<a href="http://dx.doi.org/10.23919/ECC51009.2020.9143948" target="_blank" >http://dx.doi.org/10.23919/ECC51009.2020.9143948</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.23919/ECC51009.2020.9143948" target="_blank" >10.23919/ECC51009.2020.9143948</a>

Result language

angličtina

Original language name

Model Predictive Control with Reference Anisotropic Control for Robot Motion with Disturbed Measured Outputs

Original language description

This paper introduces specific extension of model predictive control (MPC) with reference anisotropic control (Ha control) for a robot motion with disturbed measured outputs. The purpose is to exploit advance of flexible multi-step MPC and stabilizing (robust) properties of Ha control serving for disturbance attenuation of disturbed measured outputs. The linking of MPC and Ha control is derived as both a simple improvement of MPC by Ha control providing disturbance attenuation only and a modification of a cost function in MPC design by an additional tunable term weighting the proximity of MPC design to Ha control. Considered novel Ha control represents adjustable transition between H2 and Hinf control i.e. between excited (trusting) and too conservative design. The proposed control design is based on state-space formulation that run in output feedback configuration complemented by state estimation based on anisotropic theory again. The theoretical achievements are demonstrated by simulations using a state-space model describing dynamics of one specific overactuated planar parallel kinematic machine, robot-manipulator.

Czech name

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Czech description

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Type

D - Article in proceedings

CEP classification

—

OECD FORD branch

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Project

—

Continuities

I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Publication year

2020

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection

Proceedings of the European Control Conference (ECC 2020)

ISBN

978-1-7281-8813-3

ISSN

—

e-ISSN

—

Number of pages

6

Pages from-to

1111-1116

Publisher name

IEEE

Place of publication

Piscataway

Event location

Saint Petersburg

Event date

May 12, 2020

Type of event by nationality

WRD - Celosvětová akce

UT code for WoS article

000613138000194