کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
6868028 680742 2016 8 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Non-linear model predictive control schemes with application on a 2 link vertical robot manipulator
ترجمه فارسی عنوان
طرح های کنترل پیش بینی کننده غیر خطی با کاربرد در یک روتین عمودی 2 پیوند
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
چکیده انگلیسی
The industrial requirements for controllers able to perform tasks in the presence of plant nonlinearities are growing. In addition, an increase in industrial computation power is allowing the implementation of more complex control algorithms in the fast processing industry. In this investigation three different nonlinear model predictive control algorithms are tested and evaluated in simulation and experimentally. The methodologies are adaptive nonlinear model predictive control (nMPC), PID based nMPC (PIDnMPC), and a novel simplified nMPC (SnMPC). These are tested in simulation with an inverted pendulum, a Van der Pol oscillator, and a planar 2-link vertical robotic arm. The controllers are tested experimentally using a fabricated planar 2-link vertical robotic arm apparatus. A comparison of the different algorithms is made with special attention to trajectory tracking, computational complexity and transient response dynamics.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Computer-Integrated Manufacturing - Volume 41, October 2016, Pages 23-30
نویسندگان
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