Zobrazeno 1 - 10
of 11
pro vyhledávání: '"Pablo S. G. Cisneros"'
Publikováno v:
IEEE Access, Vol 9, Pp 62380-62393 (2021)
In this paper, a practical model predictive control (MPC) for tracking desired reference trajectories is demonstrated for controlling a class of nonlinear systems subject to constraints, which comprises diverse mechanical applications. Owing to the l
Externí odkaz:
https://doaj.org/article/3c57b8c71d784d7fa5b9400846c5edac
Autor:
Pablo S. G. Cisneros, Herbert Werner
Publikováno v:
IEEE Transactions on Control Systems Technology. 29:1310-1315
This brief presents a velocity-form nonlinear model predictive control (NMPC) scheme via velocity-based linearization. The main features of this approach are built-in offset-free control in the presence of disturbances, tracking of piecewise constant
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::4bfcf4f143849e71d1ac8b852bcc42c3
https://doi.org/10.1109/tcst.2020.2979386
https://doi.org/10.1109/tcst.2020.2979386
Autor:
Pablo S. G. Cisneros, Herbert Werner
Publikováno v:
International Journal of Robust and Nonlinear Control. 30:3945-3959
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::79bb19772842dfe66fca0fb9ffd18340
https://doi.org/10.1002/rnc.4973
https://doi.org/10.1002/rnc.4973
Publikováno v:
IFAC-PapersOnLine. 53:6062-6068
A fast data-driven extension of the velocity-based quasi-linear parameter-varying model predictive control (qLMPC) approach is proposed for scenarios where first principles models are not available or are computationally too expensive. We use tools f
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::3d0ecb2c61634728a3018b5bf8da7335
https://doi.org/10.1016/j.ifacol.2020.12.1676
https://doi.org/10.1016/j.ifacol.2020.12.1676
Publikováno v:
IEEE Access 9 : 9410253 (2021)
IEEE Access, Vol 9, Pp 62380-62393 (2021)
IEEE Access, Vol 9, Pp 62380-62393 (2021)
In this paper, a practical model predictive control (MPC) for tracking desired reference trajectories is demonstrated for controlling a class of nonlinear systems subject to constraints, which comprises diverse mechanical applications. Owing to the l
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::c7e5870770682931ae1850809cd0dd22
https://hdl.handle.net/11420/9600
https://hdl.handle.net/11420/9600
Publikováno v:
IFAC-PapersOnLine 26 (51): 118-123 (2018)
In this paper a practical approach to Nonlinear Model Predictive Control (NMPC) of a robotic manipulator subject to nonlinear state constraints is presented, which leads to a successful experimental implementation of the control algorithm. The use of
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::c6304912fb6e403c8c72dd0aac04e512
https://doi.org/10.1016/j.ifacol.2018.11.158
https://doi.org/10.1016/j.ifacol.2018.11.158
Autor:
Pablo S. G. Cisneros, Herbert Werner
Publikováno v:
ACC
This paper present a Nonlinear Model Predictive Control (NMPC) scheme for systems in input-output quasi-Linear Parameter Varying (IO-qLPV) form. Stability is guaranteed by the use of terminal ingredients: a terminal cost associated with a control Lya
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::3093e07fe86aa96a4efa1b32f708a35e
https://doi.org/10.23919/acc.2019.8814342
https://doi.org/10.23919/acc.2019.8814342
Publikováno v:
IFAC-PapersOnLine 52 (28) 146–151 (2019)
This paper presents a comparison and evaluation of two approaches to Nonlinear Model Predictive Control (NMPC) via quasi-LPV modeling, by means of a benchmark problem: control of a 4 degree-of-freedom Control Moment Gyroscope (CMG). The use of quasi-
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::fa13b7200a7c339138ae51a0684bfa18
Publikováno v:
IFAC-PapersOnLine 26 (51): 49-54 (2018)
IFAC-Papers
IFAC-Papers
A linear parameter varying (LPV) optimal L2 gain controller is designed with mixed-sensitivity shaping to stabilize an inverted pendulum attached to a control moment gyroscope (CMG). Swing-up of the pendulum is achieved by a start-up LPV controller f
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::bc6ef03fbc1b334b6173a7dc49f1521e
https://hdl.handle.net/11420/2478
https://hdl.handle.net/11420/2478
Autor:
Herbert Werner, Pablo S. G. Cisneros
Publikováno v:
ACC
Model Predictive Control (MPC) with stability guarantees usually relies on terminal constraints; this not only increases computational complexity but might also compromise feasibility. Furthermore, a priori stability guarantees are often not availabl
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::3f40bd76ee0ae0c45cf597592da91494
https://doi.org/10.23919/acc.2018.8431417
https://doi.org/10.23919/acc.2018.8431417