Neural Network implementation of a nonlinear Receding-Horizon controller

被引：0

作者：

Cavagnari, L ^{[1
]}

Magni, L ^{[1
]}

Scattolini, R ^{[1
]}

机构：

[1] Univ Pavia, Dipartimento Informat & Sistemist, I-27100 Pavia, Italy

来源：

PROCEEDINGS OF THE 1998 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS, VOLS 1 AND 2 | 1996年

关键词：

Receding-Horizon control; nonlinear control; Neural Network; mechanical systems;

D O I：

暂无

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 the application of an output feedback Nonlinear Receding Horizon control algorithm to a laboratory seesaw equipment. This control law guarantees exponential stability of the equilibrium and allows one to consider the presence of control and state constraints. Since the specific control application requires a small sampling interval (0.05s), the nonlinear control law is computed off-line for different values of the initial state. Then, an approximating function is derived with the aid of a Neural Net, which is subsequently implemented for on-line computations.

引用

页码：158 / 162

页数：5

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