In this paper the modelpredictivecontrol (MPC) strategy is used to solve the mobile robot trajectory tracking problem, where controller must ensure that robot follows pre-calculated trajectory. The so-called explici...
详细信息
ISBN:
(纸本)9781457708381
In this paper the modelpredictivecontrol (MPC) strategy is used to solve the mobile robot trajectory tracking problem, where controller must ensure that robot follows pre-calculated trajectory. The so-called explicit optimal controller design and implementation are described. The MPC solution is calculated off-line and expressed as a piecewise affine function of the current state of a mobile robot. A linearized kinematic model of a differential drive mobile robot is used for the controller design purpose. The optimal controller, which has a form of a look-up table, is tested in simulation and experimentally.
Traditionally modelpredictivecontrol (MPC) has been mainly restricted to processes with rather slow dynamics and with sampling times ranging from a few minutes to hours, such as the ones encountered in the areas of ...
详细信息
ISBN:
(纸本)9781479904297
Traditionally modelpredictivecontrol (MPC) has been mainly restricted to processes with rather slow dynamics and with sampling times ranging from a few minutes to hours, such as the ones encountered in the areas of (petro)chemicals, minerals and metals. However, recent algorithmic advances (such as the explicit approach for MPC) allowed the application of MPC to problems arising in the automotive or power electronics industry where the time scales are in the millior even the microsecond area. In this study we aim to push the limit of explicit MPC even further by exploiting the computational power offered by parallel CPU architectures. We present the parallelisation of three different algorithms and we report experimental results showing how for certain problems, the parallelisation offers performances that top state-of-the-art approaches.
This paper presents a novel finite-set modelpredictivecontrol technique with a fixed switching frequency for a 5-level FCC converter. Standard implementations of finite-set modelpredictivecontrol (FS-MPC) are typi...
详细信息
ISBN:
(纸本)9781479904839
This paper presents a novel finite-set modelpredictivecontrol technique with a fixed switching frequency for a 5-level FCC converter. Standard implementations of finite-set modelpredictivecontrol (FS-MPC) are typically characterised by a variable switching frequency, a high noise floor and a large voltage and current ripple. A method is proposed by selecting a fixed switching period and dividing it into smaller evaluation steps. The switching behaviour is obtained by using the analogy of PWM with triangular carriers to define regions during which only specific switching transitions are allowed. To account for the repetitive nature of the desired switching waveform, an average receding horizon prediction method is used. An anticipated prediction is made by calculating the average value for one switching period ahead, according to the position and state in the current switching period. The control method was practically implemented and evaluated, proved to be feasible and provided satisfactory results.
暂无评论