A constrained model-based predictive control algorithm and its applications

1994 ◽  
Author(s):  
M. Soufian
Keyword(s):  
Predictive Control ◽  
Control Algorithm ◽  
Model Based ◽  
Constrained Model

Active Position and Vibration Control of a Flexible Links Mechanism Using Model-Based Predictive Control

2009 ◽  
Vol 132 (1) ◽  
Author(s):  
Paolo Boscariol ◽  
Alessandro Gasparetto ◽  
Vanni Zanotto
Keyword(s):  
Predictive Control ◽  
High Speed ◽  
Position Control ◽  
Robotic Manipulators ◽  
Chain Mechanism ◽  
Flexible Links ◽  
Model Based ◽  
Closed Chain ◽  
Link Flexibility ◽  
Constrained Model

In order to develop an efficient and fast position control for robotic manipulators, vibration phenomena have to be taken into account. Vibrations are mainly caused by the flexibility of manipulator linkages, especially when dealing with high-speed and lightweight robots. In this paper, a constrained model-based predictive control is employed for controlling both position and vibrations in a mechanism with high link flexibility. This kind of controller has so far been used mainly to control slow processes, but here simulation results that show its effectiveness in dealing with high-speed and nonlinear processes are presented. The mechanism chosen to evaluate the performances is a four-link closed chain mechanism laying on the horizontal plane and driven by a single torque-controlled electric motor.

scholarly journals Robust constrained MPC stabilization of a CSTR

2012 ◽  
Vol 5 (2) ◽  
pp. 153-158 ◽  
Author(s):  
Juraj Oravec ◽  
Monika Bakošová
Keyword(s):  
Predictive Control ◽  
Exothermic Reaction ◽  
Robust Stabilization ◽  
Optimization Methods ◽  
Linear Matrix ◽  
Continuous Stirred Tank Reactor ◽  
Control Approach ◽  
Model Based ◽  
Constrained Model ◽  
Input Variables

Abstract The paper addresses a case study of robust stabilization of a continuous stirred tank reactor using robust model-based predictive control with constrained input variables. One exothermic reaction runs in the reaction mixture and the reactor is modelled in the form of an uncertain polytopic system. The control approach is based on solution of a set of linear matrix inequalities. This formulation enables to use convex optimization methods to design a gain matrix of a state feedback controller in each control step. The task of stabilization is solved in assumed control conditions with respect to symmetric constraints on control inputs. The control performance achieved by robust constrained model-based predictive control is studied via simulations. Obtained results confirm that the robust constrained model-based predictive control ensures the stability demands and the quality requirements represented by chosen quadratic cost function.

scholarly journals Development and Evaluation of Model-based Predictive Control Algorithm for Effluent NH4-N in A2/O Process

2011 ◽  
Vol 33 (1) ◽  
pp. 25-31 ◽  
Author(s):  
Dae-Joon Woo ◽  
Hyo-Soo Kim ◽  
Ye-Jin Kim ◽  
Jae-Hwan Cha ◽  
Soo-Jung Choi ◽  
...  
Keyword(s):  
Predictive Control ◽  
Control Algorithm ◽  
Model Based
Sign in / Sign up

Export Citation Format

Share Document