Title :
Complex trajectory tracking using MPC with prediction adjustment
Author :
Charest, Meaghan ; Dubay, Rickey ; Everett, Scott
Author_Institution :
Dept. of Mech. Eng., Univ. of New Brunswick, Fredericton, NB, Canada
Abstract :
A prediction adjustment parameter η for model predictive control algorithms to enhance complex trajectory tracking is introduced. The η methodology is tested in simulation and on an experimental setup using DMC and GPC algorithms.
Keywords :
predictive control; η methodology; DMC algorithm; GPC algorithm; MPC; complex trajectory tracking; dynamic matrix control; generalized predictive control; model predictive control algorithm; prediction adjustment parameter; Optimization; Polynomials; Prediction algorithms; Predictive control; Predictive models; Standards; Trajectory;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2013 IEEE International Conference on
Conference_Location :
Shenzhen
DOI :
10.1109/ROBIO.2013.6739787
