A model predictive control approach for time optimal point-to-point motion control

被引：87
|
作者：
Van den Broeck, Lieboud [1 ]
Diehl, M. [2 ]
Swevers, J. [1 ]
机构：
[1] Dept Mech Engn, B-3001 Louvain, Belgium
[2] Dept Elect Engn, B-3001 Louvain, Belgium
来源：
MECHATRONICS | 2011年 / 21卷 / 07期
基金：
比利时弗兰德研究基金会;
关键词：
Model-based control; Time-optimal control; Mechanical systems; ACTIVE-SET; OPTIMIZATION; STABILITY; DESIGN;
D O I：
10.1016/j.mechatronics.2011.07.008
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a new model predictive control method for time-optimal point-to-point motion control of mechatronic systems. The formulation of time-optimal behavior within the model predictive control framework and the structure of the underlying optimization problem are discussed and modifications are presented in order to decrease the computational load of the numerical solution method such that sampling rates in the millisecond range and long prediction horizons for large point-to-point motions are feasible. An extensive experimental validation on a linear motor drive and an overhead crane setup demonstrates the advantages of the developed time-optimal model predictive control approach in comparison with traditional model predictive control. (C) 2011 Elsevier Ltd. All rights reserved.
引用
收藏
页码：1203 / 1212
页数：10
相关论文
共 50 条
  • [1] ENERGY OPTIMAL POINT-TO-POINT MOTION USING MODEL PREDICTIVE CONTROL
    Wang, Xin
    Stoev, Julian
    Swevers, Jan
    Pinte, Gregory
    [J]. PROCEEDINGS OF THE ASME 5TH ANNUAL DYNAMIC SYSTEMS AND CONTROL DIVISION CONFERENCE AND JSME 11TH MOTION AND VIBRATION CONFERENCE, DSCC 2012, VOL 2, 2012, : 267 - +
  • [2] A Stabilizing Nonlinear Model Predictive Control Scheme for Time-optimal Point-to-point Motions
    Verschueren, Robin
    Ferreau, Hans Joachim
    Zanarini, Alessandro
    Mercangoez, Mehmet
    Diehl, Moritz
    [J]. 2017 IEEE 56TH ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC), 2017,
  • [3] Timed-Elastic-Bands for Time-Optimal Point-to-Point Nonlinear Model Predictive Control
    Roesmann, Christoph
    Hoffmann, Frank
    Bertram, Torsten
    [J]. 2015 EUROPEAN CONTROL CONFERENCE (ECC), 2015, : 3352 - 3357
  • [4] Point-to-point iterative learning model predictive control
    Oh, Se-Kyu
    Park, Byung Jun
    Lee, Jong Min
    [J]. AUTOMATICA, 2018, 89 : 135 - 143
  • [5] Point-to-Point Repetitive Control with Optimal Tracking Time
    Wu, Maxwell
    Vermillion, Chris
    Barton, Kira
    [J]. 2021 60TH IEEE CONFERENCE ON DECISION AND CONTROL (CDC), 2021, : 5845 - 5850
  • [6] Model Predictive Control for Real-Time Point-to-Point Trajectory Generation
    Ardakani, M. Mahdi Ghazaei
    Olofsson, Bjoern
    Robertsson, Anders
    Johansson, Rolf
    [J]. IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING, 2019, 16 (02) : 972 - 983
  • [7] Improved computation of time-optimal control trajectory for robotic point-to-point motion
    Purdue Univ, Indianapolis, United States
    [J]. Int J Control, 1 (177-194):
  • [8] An improved computation of time-optimal control trajectory for robotic point-to-point motion
    Chen, YB
    Huang, J
    [J]. INTERNATIONAL JOURNAL OF CONTROL, 1996, 65 (01) : 177 - 194
  • [9] An efficient algorithm for solving time-optimal point-to-point motion control problems
    Janssens, Pieter
    Van Loock, Wannes
    Pipeleers, Goele
    Swevers, Jan
    [J]. 2013 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS (ICM), 2013,
  • [10] OPTIMAL POINT-TO-POINT MOTION CONTROL OF ROBOTS WITH REDUNDANT DEGREES OF FREEDOM
    FENTON, RG
    BENHABIB, B
    GOLDENBERG, AA
    [J]. JOURNAL OF ENGINEERING FOR INDUSTRY-TRANSACTIONS OF THE ASME, 1986, 108 (02): : 120 - 126
12345