This paper is concerned with a computationally efficient suboptimal nonlinear predictive control algorithm. The nonlinear model of the plant is used to obtain a local linearisation and to calculate, by means of an ite...
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The paper presents an outline of the specification of a robot controller used in manipulation tasks requiring object grasping by a multi-fingered gripper and interaction with the environment. The specification assumes...
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This paper presents a Model Predictive control (MPC) algorithm for on-line economic optimisation of nonlinear technological processes. The economic profit is explicitly expressed in the minimised objective function. T...
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A method of human skeleton-tracking and -refinement, and feature extraction for two-person interaction recognition in video is proposed. Its purpose is to properly reassign the same person-representing skeletons, appr...
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This paper is concerned with a nonlinear Dynamic Matrix control (DMC) algorithm in which measured disturbances are compensated. Neural networks are used to calculate on-line step response coefficients for the current ...
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This paper is concerned with a computationally efficient (suboptimal) nonlinear Model Predictive control (MPC) algorithm based on neural Wiener models. The model contains a linear dynamic part in series with a steady-...
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The paper is concerned with disturbance modeling and observer design for Model Predictive control (MPC) with different formulations of state-space process models. Systematic discussion is given, presenting the ways th...
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This work presents hardware accelerators implemented in the Field Programmable Gate Array (FPGA) which perform fast calculations for Model Predictive control (MPC) algorithms. Two MPC algorithms are considered: Dynami...
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This paper focus on the problem of passive robust fault detection using nonlinear models that include parameter uncertainty. The non-linear model considered here is described by a Group Method of Data Handling Neural ...
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The paper proposes a structure for open, hierarchical, multi-device controllers. The proposed structure takes into account that the system may contain several robots of different type, a certain number of cooperating ...
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