Output-feedback MPC for Robotic Systems under Bounded Noise
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F67985556%3A_____%2F21%3A00543771" target="_blank" >RIV/67985556:_____/21:00543771 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.5220/0010557705740582" target="_blank" >http://dx.doi.org/10.5220/0010557705740582</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.5220/0010557705740582" target="_blank" >10.5220/0010557705740582</a>
Alternative languages
Result language
angličtina
Original language name
Output-feedback MPC for Robotic Systems under Bounded Noise
Original language description
The paper presents an output-feedback model predictive control applied to the motion control of a dynamic model of a parallel kinematic machine. The controlled system is described by a stochastic linear discrete-time model with bounded disturbances. An approximate uniform Bayesian filter provides set state estimates. The choice of the specific point estimate from this set is a part of the optimization. The cost function includes penalties on the tracking error and the actuation effort respecting increments. Illustrative examples show the effectiveness of the proposed approach and provide a comparison with previous results.
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
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
Result continuities
Project
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Continuities
I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace
Others
Publication year
2021
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 18th International Conference on Informatics in Control, Automation and Robotics
ISBN
978-989-758-522-7
ISSN
2184-2809
e-ISSN
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Number of pages
9
Pages from-to
574-582
Publisher name
Scitepress
Place of publication
Setúbal
Event location
Setúbal (online)
Event date
Jul 6, 2021
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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