Ten questions concerning model predictive control for energy efficient buildings

2016 ◽  
Vol 105 ◽  
pp. 403-412 ◽  
Author(s):  
M. Killian ◽  
M. Kozek
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Energy Efficient ◽  
Energy Efficient Buildings

scholarly journals Handling model uncertainty in model predictive control for energy efficient buildings

2014 ◽  
Vol 77 ◽  
pp. 377-392 ◽  
Author(s):  
M. Maasoumy ◽  
M. Razmara ◽  
M. Shahbakhti ◽  
A. Sangiovanni Vincentelli
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Model Uncertainty ◽  
Energy Efficient ◽  
Energy Efficient Buildings

scholarly journals Knee-stretched walking with toe-off and heel-strike for a position-controlled humanoid robot based on model predictive control

2021 ◽  
Vol 18 (4) ◽  
pp. 172988142110362
Author(s):  
Zelin Huang ◽  
Zhangguo Yu ◽  
Xuechao Chen ◽  
Qingqing Li ◽  
Libo Meng ◽  
...  
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Energy Efficient ◽  
Humanoid Robot ◽  
Center Of Mass ◽  
Heel Strike ◽  
Gait Generation ◽  
Double Support ◽  
Transition Moments ◽  
Efficient Gait

Knee-stretched walking is considered to be a human-like and energy-efficient gait. The strategy of extending legs to obtain vertical center of mass trajectory is commonly used to avoid the problem of singularities in knee-stretched gait generation. However, knee-stretched gait generation utilizing this strategy with toe-off and heel-strike has kinematics conflicts at transition moments between single support and double support phases. In this article, a knee-stretched walking generation with toe-off and heel-strike for the position-controlled humanoid robot has been proposed. The position constraints of center of mass have been considered in the gait generation to avoid the kinematics conflicts based on model predictive control. The method has been verified in simulation and validated in experiment.

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