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

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

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

Projekt

—

Návaznosti

I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Rok uplatnění

2020

Kód důvěrnosti údajů

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

Název statě ve sborníku

Proceedings of the European Control Conference (ECC 2020)

ISBN

978-1-7281-8813-3

ISSN

—

e-ISSN

—

Počet stran výsledku

6

Strana od-do

1111-1116

Název nakladatele

IEEE

Místo vydání

Piscataway

Místo konání akce

Saint Petersburg

Datum konání akce

12. 5. 2020

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000613138000194