• DocumentCode
    681629
  • 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
  • fYear
    2013
  • fDate
    12-14 Dec. 2013
  • Firstpage
    2148
  • Lastpage
    2153
  • 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;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Robotics and Biomimetics (ROBIO), 2013 IEEE International Conference on
  • Conference_Location
    Shenzhen
  • Type

    conf

  • DOI
    10.1109/ROBIO.2013.6739787
  • Filename
    6739787
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=681629