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

0524380 - ÚTIA 2021 RIV US eng C - Conference Paper (international conference)
Belda, Květoslav - Kustov, A. - Yurchenkov, A. - Tchaikovsky, M.
Model Predictive Control with Reference Anisotropic Control for Robot Motion with Disturbed Measured Outputs.
Proceedings of the European Control Conference (ECC 2020). Piscataway: IEEE, 2020, s. 1111-1116. ISBN 978-1-7281-8813-3.
[European Control Conference (ECC) 2020. Saint Petersburg (RU), 12.05.2020-15.05.2020]
Institutional support: RVO:67985556
Keywords : Predictive Control * Anisotropic Control * Motion Control * Stochastic Disturbances
OECD category: Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
http://library.utia.cas.cz/separaty/2020/AS/belda-0524380.pdf

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.
Permanent Link: http://hdl.handle.net/11104/0308919