Receptance-based model predictive control of multibody systems with time-varying references.

Autor: Pereira, Bruno S. S., Santos, Tito L. M., Araújo, José M.
Zdroj: Meccanica; Jan2024, Vol. 59 Issue 1, p33-48, 16p
Abstrakt: This paper proposes a receptance-based linear model predictive control approach for time-varying reference tracking of multibody dynamical systems. Receptance-based Generalized Predictive Control and Dynamic Matrix Control are used to deal with the trajectory tracking of multibody control problems subject to time-varying targets. The reference tracking properties of the typical MPC strategies are analyzed with respect to the standard cost function. Furthermore, a modified receptance-based MPC approach is presented to reduce the tracking error sensitivity with respect to the MPC design parameters. Periodic references are considered to illustrate the benefits of the proposed modification. A case study based on a two link multibody system is presented to highlight the main properties of the new receptance based predictive control. [ABSTRACT FROM AUTHOR]
Databáze: Complementary Index
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