| bibtype |
C -
Conference Paper (international conference)
|
| ARLID |
0524380 |
| utime |
20240103224048.8 |
| mtime |
20200519235959.9 |
| SCOPUS |
85090126099 |
| WOS |
000613138000194 |
| DOI |
10.23919/ECC51009.2020.9143948 |
| title
(primary) (eng) |
Model Predictive Control with Reference Anisotropic Control for Robot Motion with Disturbed Measured Outputs |
| specification |
| page_count |
6 s. |
| media_type |
C |
|
| serial |
| ARLID |
cav_un_epca*0524316 |
| ISBN |
978-1-7281-8813-3 |
| title
|
Proceedings of the European Control Conference (ECC 2020) |
| page_num |
1111-1116 |
| publisher |
| place |
Piscataway |
| name |
IEEE |
| year |
2020 |
|
|
| keyword |
Predictive Control |
| keyword |
Anisotropic Control |
| keyword |
Motion Control |
| keyword |
Stochastic Disturbances |
| author
(primary) |
| ARLID |
cav_un_auth*0101064 |
| name1 |
Belda |
| name2 |
Květoslav |
| institution |
UTIA-B |
| full_dept (cz) |
Adaptivní systémy |
| full_dept (eng) |
Department of Adaptive Systems |
| department (cz) |
AS |
| department (eng) |
AS |
| full_dept |
Department of Adaptive Systems |
| fullinstit |
Ústav teorie informace a automatizace AV ČR, v. v. i. |
|
| author
|
| ARLID |
cav_un_auth*0291939 |
| name1 |
Kustov |
| name2 |
A. |
| country |
RU |
|
| author
|
| ARLID |
cav_un_auth*0392263 |
| name1 |
Yurchenkov |
| name2 |
A. |
| country |
RU |
|
| author
|
| ARLID |
cav_un_auth*0376533 |
| name1 |
Tchaikovsky |
| name2 |
M. |
| country |
RU |
|
| source |
|
| cas_special |
| abstract
(eng) |
This paper introduces specific extension of model predictive control (MPC) with reference anisotropic control (Ha control) for a robot motion with disturbed measured outputs. The purpose is to exploit advance of flexible multi-step MPC and stabilizing (robust) properties of Ha control serving for disturbance attenuation of disturbed measured outputs. The linking of MPC and Ha control is derived as both a simple improvement of MPC by Ha control providing disturbance attenuation only and a modification of a cost function in MPC design by an additional tunable term weighting the proximity of MPC design to Ha control. Considered novel Ha control represents adjustable transition between H2 and Hinf control i.e. between excited (trusting) and too conservative design. The proposed control design is based on state-space formulation that run in output feedback configuration complemented by state estimation based on anisotropic theory again. The theoretical achievements are demonstrated by simulations using a state-space model describing dynamics of one specific overactuated planar parallel kinematic machine, robot-manipulator. |
| action |
| ARLID |
cav_un_auth*0392556 |
| name |
European Control Conference (ECC) 2020 |
| dates |
20200512 |
| mrcbC20-s |
20200515 |
| place |
Saint Petersburg |
| country |
RU |
|
| RIV |
BC |
| FORD0 |
10000 |
| FORD1 |
10200 |
| FORD2 |
10201 |
| reportyear |
2021 |
| num_of_auth |
4 |
| mrcbC52 |
4 A sml 4as 20231122144918.6 |
| presentation_type |
PR |
| inst_support |
RVO:67985556 |
| permalink |
http://hdl.handle.net/11104/0308919 |
| cooperation |
| ARLID |
cav_un_auth*0392265 |
| name |
V.A. Trapeznikov Institute of Control Sciences, RAS |
| country |
RU |
|
| confidential |
S |
| contract |
| name |
Copyright |
| date |
20200207 |
|
| mrcbC86 |
3+4 Proceedings Paper Automation Control Systems|Engineering Electrical Electronic|Operations Research Management Science|Mathematics Applied |
| arlyear |
2020 |
| mrcbTft |
\nSoubory v repozitáři: belda-0524380-ECC20_CopyrightForm_84.pdf |
| mrcbU14 |
85090126099 SCOPUS |
| mrcbU24 |
PUBMED |
| mrcbU34 |
000613138000194 WOS |
| mrcbU63 |
cav_un_epca*0524316 Proceedings of the European Control Conference (ECC 2020) 978-1-7281-8813-3 1111 1116 Piscataway IEEE 2020 |
|