Constrained Predictive Control of MIMO System - Application to a Two Link Manipulator

Joanna Zietkiewicz

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Paper

Constrained Predictive Control of MIMO System - Application to a Two Link Manipulator

Topics: Adaptive Signal Processing and Control; Engineering Applications; Nonlinear Signals and Systems

In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, 293-298, 2012 , Rome, Italy

Author: Joanna Zietkiewicz

Affiliation: Poznan University of Technology, Poland

Keyword(s): Predictive Control, Constraints, MIMO Systems, LQ Control.

Related Ontology Subjects/Areas/Topics: Adaptive Signal Processing and Control ; Engineering Applications ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Nonlinear Signals and Systems ; Robotics and Automation ; Signal Processing, Sensors, Systems Modeling and Control

Abstract: In the paper application of constrained predictive control to multi input, multi output system is presented. The method is based on feedback linearization and LQ control. Constraints of the system are implemented by interpolation of reference trajectory. Finding solution is a compromise between the unconstrained LQ control and a constrained feasible control and is executed by minimization of one variable. The application of the method to a two link manipulator is used to present advantages and limitations of the algorithm.

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Paper citation in several formats:

Zietkiewicz, J. (2012). Constrained Predictive Control of MIMO System - Application to a Two Link Manipulator. In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-8565-21-1; ISSN 2184-2809, SciTePress, pages 293-298. DOI: 10.5220/0004122002930298

@conference{icinco12,
author={Joanna Zietkiewicz.},
title={Constrained Predictive Control of MIMO System - Application to a Two Link Manipulator},
booktitle={Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2012},
pages={293-298},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004122002930298},
isbn={978-989-8565-21-1},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Constrained Predictive Control of MIMO System - Application to a Two Link Manipulator
SN - 978-989-8565-21-1
IS - 2184-2809
AU - Zietkiewicz, J.
PY - 2012
SP - 293
EP - 298
DO - 10.5220/0004122002930298
PB - SciTePress