An object oriented framework for a generic model predictive controller
| Autor: | J. Mikael Eklund, T. Teatro |
|---|---|
| Rok vydání: | 2016 |
| Předmět: |
0209 industrial biotechnology
Object-oriented programming Computer science Predictive controller Control engineering 02 engineering and technology Object-oriented design Model predictive control 020901 industrial engineering & automation Control theory 0202 electrical engineering electronic engineering information engineering Trajectory Robot 020201 artificial intelligence & image processing |
| Zdroj: | CCECE |
| DOI: | 10.1109/ccece.2016.7726652 |
| Popis: | We present an object oriented design for a reusable nonlinear model predictive controller framework. The framework balances reusability with flexibility and performance. Separation of interface from implementation simplifies development and facilitates use of dynamic polymorphism to change the controller behaviour at runtime. The work is presented in language agnostic terms, but the success of a particular implementation for an omni-wheeled robot is briefly described. That implementation is available online, but an application non-specific version will be made available with examples as starting templates. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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