| bibtype |
C -
Conference Paper (international conference)
|
| ARLID |
0543771 |
| utime |
20240103230005.0 |
| mtime |
20210714235959.9 |
| DOI |
10.5220/0010557705740582 |
| title
(primary) (eng) |
Output-feedback MPC for Robotic Systems under Bounded Noise |
| specification |
| page_count |
9 s. |
| media_type |
E |
|
| serial |
| ARLID |
cav_un_epca*0543770 |
| ISBN |
978-989-758-522-7 |
| ISSN |
2184-2809 |
| title
|
Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics |
| page_num |
574-582 |
| publisher |
| place |
Setúbal |
| name |
Scitepress |
| year |
2021 |
|
| editor |
|
| editor |
|
| editor |
|
|
| keyword |
model predictive control |
| keyword |
output-feedback control |
| keyword |
robot manipulator |
| keyword |
state estimation |
| keyword |
Bayes methods |
| keyword |
bounded uncertainty |
| author
(primary) |
| ARLID |
cav_un_auth*0382598 |
| name1 |
Kuklišová Pavelková |
| name2 |
Lenka |
| 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 |
| country |
CZ |
| fullinstit |
Ústav teorie informace a automatizace AV ČR, v. v. i. |
|
| author
|
| ARLID |
cav_un_auth*0101064 |
| name1 |
Belda |
| name2 |
Květoslav |
| institution |
UTIA-B |
| full_dept (cz) |
Adaptivní systémy |
| full_dept |
Department of Adaptive Systems |
| department (cz) |
AS |
| department |
AS |
| full_dept |
Department of Adaptive Systems |
| fullinstit |
Ústav teorie informace a automatizace AV ČR, v. v. i. |
|
| source |
|
| cas_special |
| abstract
(eng) |
The paper presents an output-feedback model predictive control applied to the motion control of a dynamic model of a parallel kinematic machine. The controlled system is described by a stochastic linear discrete-time model with bounded disturbances. An approximate uniform Bayesian filter provides set state estimates. The choice of the specific point estimate from this set is a part of the optimization. The cost function includes penalties on the tracking error and the actuation effort respecting increments. Illustrative examples show the effectiveness of the proposed approach and provide a comparison with previous results. |
| action |
| ARLID |
cav_un_auth*0411344 |
| name |
International Conference on Informatics in Control, Automation and Robotics 2021 /18./ |
| dates |
20210706 |
| mrcbC20-s |
20210708 |
| place |
Setúbal (online) |
| country |
PT |
|
| RIV |
BC |
| FORD0 |
10000 |
| FORD1 |
10200 |
| FORD2 |
10201 |
| reportyear |
2022 |
| num_of_auth |
2 |
| mrcbC52 |
4 A sml 4as 20231122145824.2 |
| presentation_type |
PR |
| inst_support |
RVO:67985556 |
| permalink |
http://hdl.handle.net/11104/0321662 |
| confidential |
S |
| contract |
| name |
CONSENT TO PUBLISH and COPYRIGHT TRANSFER |
| date |
20210503 |
|
| arlyear |
2021 |
| mrcbTft |
\nSoubory v repozitáři: kuklisova-0543771-copyright-ICINCO21.pdf |
| mrcbU14 |
SCOPUS |
| mrcbU24 |
PUBMED |
| mrcbU34 |
WOS |
| mrcbU63 |
cav_un_epca*0543770 Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics Scitepress 2021 Setúbal 574 582 978-989-758-522-7 2184-2809 |
| mrcbU67 |
Gusikhin O. 340 |
| mrcbU67 |
Nijmeijer H. 340 |
| mrcbU67 |
Madani K. 340 |
|