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On-line Parameter Tuning of Model Predictive Control
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SYSNO ASEP 0363300 Document Type C - Proceedings Paper (int. conf.) R&D Document Type Conference Paper Title On-line Parameter Tuning of Model Predictive Control Author(s) Belda, Květoslav (UTIA-B) RID, ORCID Number of authors 1 Source Title Proceedings of the 18th IFAC World Congress. - Milano : IFAC - International Fedaration of Automatic Control, 2011 / Bittanti ; Cenedese ; Zampieri - ISBN 978-3-902661-93-7 Pages s. 5489-5494 Number of pages 6 s. Publication form DVD - DVD Action 18th IFAC World Congress Event date 28.08.2011-02.09.2011 VEvent location Milano Country IT - Italy Event type WRD Language eng - English Country IT - Italy Keywords Model Predictive Control ; Parameter Tuning ; LQ Control ; Probality Calculus Subject RIV BC - Control Systems Theory R&D Projects GAP102/11/0437 GA ČR - Czech Science Foundation (CSF) CEZ AV0Z10750506 - UTIA-B (2005-2011) Annotation Model Predictive Control is a powerful control approach suitable for industrial applications due to its simplicity and flexibility. The aim of the paper is to introduce principal points for on-line tuning and automatic set-up of predictive control parameters. A proposed way of the tuning arises from the fact that in all control tasks, there is a certain degree of uncertainty with respect to the controlled system including its neighborhood. The strategy takes advantage of an analogy of the discrete Predictive Control and Linear Quadratic Control (LQ Control) connected with the probability calculus. The parameter tuning is demonstrated on multidimensional robotic system. Workplace Institute of Information Theory and Automation Contact Markéta Votavová, votavova@utia.cas.cz, Tel.: 266 052 201. Year of Publishing 2012
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