Application of Linear Model Predictive Control and Input-Output Linearization to Constrained Control of 3D Cable Robots
نویسندگان
چکیده
منابع مشابه
Application of Linear Model Predictive Control and Input-Output Linearization to Constrained Control of 3D Cable Robots
Cable robots are structurally the same as parallel robots but with the basic difference that cables can only pull the platform and cannot push it. This feature makes control of cable robots a lot more challenging compared to parallel robots. This paper introduces a controller for cable robots under force constraint. The controller is based on input-output linearization and linear model predicti...
متن کاملAdaptive Input-Output Linearization Control of pH Processes
pH control is a challenging problem due to its highly nonlinear nature. In this paper the performances of two different adaptive global linearizing controllers (GLC) are compared. Least squares technique has been used for identifying the titration curve. The first controller is a standard GLC based on material balances of each species. For implementation of this controller a nonlinear state...
متن کاملRobust output feedback model predictive control of constrained linear systems
This paper provides a solution to the problem of robust output feedback model predictive control of constrained, linear, discrete-time systems in the presence of bounded state and output disturbances. The proposed output feedback controller consists of a simple, stable Luenberger state estimator and a recently developed, robustly stabilizing, tube-based, model predictive controller. The state e...
متن کاملConstrained Model Predictive Control of Low-power Industrial Gas Turbine
Nowadays, extensive research has been conducted for gas turbine engines control due to growing importance of gas turbine engines for different industries and the need to design a suitable control system for a gas turbine as the heart of the industry. In order to design gas turbine control system, various control variables can be used, but in the meantime, fuel flow inserting into combustion cha...
متن کاملadaptive input-output linearization control of ph processes
ph control is a challenging problem due to its highly nonlinear nature. in this paper the performances of two different adaptive global linearizing controllers (glc) are compared. least squares technique has been used for identifying the titration curve. the first controller is a standard glc based on material balances of each species. for implementation of this controller a nonlinear state est...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Modern Mechanical Engineering
سال: 2011
ISSN: 2164-0165,2164-0181
DOI: 10.4236/mme.2011.12009