Agile manoeuvres using model predictive control

IF 0.9 Q4 CHEMISTRY, MULTIDISCIPLINARY Acta Chimica Slovaca Pub Date : 2019-04-01 DOI:10.2478/acs-2019-0019
Kristína Fedorová, Peter Bakaráč, M. Kvasnica
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引用次数: 1

Abstract

Abstract This paper shows how model predictive control (MPC) can be used to perform agile manoeuvres in a pendulum-on-a-cart system, which is an abstraction of many mechanical systems commonly used in the industry, such as cranes. Specifically, the problem of moving a cart on which a pendulum is mounted using a free joint is rapidly moved from one position to another one while mitigating the swings of the pendulum. To achieve this goal, an optimization-based MPC strategy is employed that selects the control moves while minimizing the chosen cost function and, simultaneously, enforcing constraint satisfaction. As the controlled system is nonlinear, two options are considered. The first one solves the nonlinear MPC problem in an approximate fashion using the so-called random shooting approach. The second method is based on the first one approximating the nonlinear system by a linear one, followed by applying convex MPC techniques. The performance of both strategies was compared by means of real-time experiments.
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使用模型预测控制的敏捷机动
摘要本文展示了如何使用模型预测控制(MPC)在车载摆动系统中执行敏捷操作,该系统是工业中常用的许多机械系统(如起重机)的抽象。具体而言,使用自由接头移动安装有摆锤的推车的问题会从一个位置快速移动到另一个位置,同时减轻摆锤的摆动。为了实现这一目标,采用了一种基于优化的MPC策略,该策略选择控制动作,同时最小化所选的成本函数,同时强制满足约束。由于受控系统是非线性的,因此考虑了两种选择。第一种方法使用所谓的随机射击方法以近似的方式解决非线性MPC问题。第二种方法是基于第一种方法,用线性方法近似非线性系统,然后应用凸MPC技术。通过实时实验对两种策略的性能进行了比较。
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来源期刊
Acta Chimica Slovaca
Acta Chimica Slovaca CHEMISTRY, MULTIDISCIPLINARY-
自引率
12.50%
发文量
11
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