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Author(s): Fernando A. C. C. Fontes
Amélia C. D. Caldeira
Title: Model Predictive Control of UnderactuatedMechanical Systems
Issue Date: 2007
Abstract: Model Predictive Control (MPC) is an optimization-based control technique that hasreceived an increasing research interest and has been widely applied in industry. Similarlyto optimal control, MPC has an inherent ability to deal naturally with constraints on theinputs and on the state. Moreover, since the controls generated are closed-loop strategiesobtained by optimizing some criterion, the method possesses some desirable performanceproperties [8] and also intrinsic robustness properties [7]. Thousands of applications havebeen reported [9], making MPC being classified as the only advanced control techniquewith a substancial impact on industrial control [6]. Until recently, a technical difficultyprevented the continuous-time MPC approaches to be used to stabilize important classesof nonlinear systems, such as under-actuated mechanical systems which frequently appearin robotics. Such class of nonlinear systems cannot be stabilized by a continuoustime-invariant feedback. As a consequence, the trajectories cannot be described by classical(Caratheodory) solutions to differential equations.This difficulty is overcame in theframework proposed in [1] that describes how a continuous-time MPC framework using apositive inter-sampling time, combined with the use of an appropriate concept of solutionto a differential equation, can address nonholonomic systems. An implementation of anMPC strategy to control a wheeled mobile robot using the results above is reported in[4, 5].An MPC framework with guaranteed robustness properties addressing a general classof nonlinear systems is discussed in [2, 3]. Preliminary results on the implementation ofa robust MPC strategy, devised in the above references, to a wheeled robot are reported.Conditions under which steering to a set is guaranteed are established.
Subject: Ciências da engenharia e tecnologias
Engineering and technology
Scientific areas: Ciências da engenharia e tecnologias
Engineering and technology
Source: Proceedings of RoboMat 2007,Workshop on Robotics and Mathematics
Document Type: Artigo em Livro de Atas de Conferência Internacional
Rights: restrictedAccess
Appears in Collections:FEUP - Artigo em Livro de Atas de Conferência Internacional

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