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Adaptive Model Predictive Control Design for Underactuated Multibody Systems with Uncertain Parameters

机译:具有不确定参数的废除多体系的自适应模型预测控制设计

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This paper deals with an adaptive control scheme consisting of a feedback linearization and a model predictive controller (MPC) which is aimed at a real-time capable implementation. To overcome the incalculable effect of uncertainties on the control behaviour, an unscented Kalman Filter (UKF) is used to adapt the prediction model of the MPC online. Robustness properties are derived by a fuzzy-arithmetical analysis. The proposed control scheme is applied to a serial manipulator with a passive joint containing uncertain parameters.
机译:本文涉及一种自适应控制方案,包括反馈线性化和模型预测控制器(MPC),其旨在实时能够实现。为了克服不可估量的不确定性对控制行为的影响,使用无需的卡尔曼滤波器(UKF)来调整MPC在线预测模型。鲁棒性属性是由模糊算术分析来源的。所提出的控制方案应用于串行机械手,其具有包含不确定参数的被动关节。

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