Počet záznamů: 1
Model Predictive Control with Reference Anisotropic Control for Robot Motion with Disturbed Measured Outputs
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SYSNO ASEP 0524380 Druh ASEP C - Konferenční příspěvek (mezinárodní konf.) Zařazení RIV D - Článek ve sborníku Název Model Predictive Control with Reference Anisotropic Control for Robot Motion with Disturbed Measured Outputs Tvůrce(i) Belda, Květoslav (UTIA-B) RID, ORCID
Kustov, A. (RU)
Yurchenkov, A. (RU)
Tchaikovsky, M. (RU)Celkový počet autorů 4 Zdroj.dok. Proceedings of the European Control Conference (ECC 2020). - Piscataway : IEEE, 2020 - ISBN 978-1-7281-8813-3 Rozsah stran s. 1111-1116 Poč.str. 6 s. Forma vydání Nosič - C Akce European Control Conference (ECC) 2020 Datum konání 12.05.2020 - 15.05.2020 Místo konání Saint Petersburg Země RU - Rusko Typ akce WRD Jazyk dok. eng - angličtina Země vyd. US - Spojené státy americké Klíč. slova Predictive Control ; Anisotropic Control ; Motion Control ; Stochastic Disturbances Vědní obor RIV BC - Teorie a systémy řízení Obor OECD Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8) Institucionální podpora UTIA-B - RVO:67985556 UT WOS 000613138000194 EID SCOPUS 85090126099 DOI 10.23919/ECC51009.2020.9143948 Anotace 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. Pracoviště Ústav teorie informace a automatizace Kontakt Markéta Votavová, votavova@utia.cas.cz, Tel.: 266 052 201. Rok sběru 2021
Počet záznamů: 1