Constrained discrete model predictive control of an arm-manipulator using Laguerre function

Pinheiro Tarcisio Carlos F.; Silveira Antonio S.

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Constrained discrete model predictive control of an arm-manipulator using Laguerre function

机译：使用LAGUERRE功能约束分立模型预测控制臂式操纵器

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This work presents a multivariable predictive controller applied on a redundant robotic manipulator with three degrees of freedom. The article focuses on the design of a discrete model-based predictive controller (DMPC) using the Laguerre function as a control effort weighting method to enhance the solution of Hildreth's quadratic programming and to minimize the trade-off problem in constrained case. The Laguerre functions are used to simplify and enhance the control horizon effect through parsimonious control trajectory, thus reducing the computational load required to find the optimal control solution. Furthermore, these results can be confirmed by simulations and experimental tests on the manipulator and comparing it to the traditional DMPC approach and the discrete linear quadratic regulator.

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来源
《Optimal Control Applications and Methods》 |2021年第1期|共20页
作者
Pinheiro Tarcisio Carlos F.; Silveira Antonio S.;
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作者单位

Fed Univ Para Lab Control &

Syst Rua Augusto Correa 01 Guama BR-66075110 Belem Para Brazil;

Fed Univ Para Lab Control &

Syst Rua Augusto Correa 01 Guama BR-66075110 Belem Para Brazil;

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原文格式 PDF
正文语种 eng
中图分类应用数学;
关键词
constrained control; discrete model predictive control; Hildreth's quadratic programming; Laguerre function; parsimonious future control;

机译：受限制的控制;离散模型预测控制;Hildreth的二次编程;Laguerre功能;解析未来的控制;

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Constrained discrete model predictive control of an arm-manipulator using Laguerre function

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