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

Joanna Zietkiewicz

2012

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.

Paper Citation

in Harvard Style

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, pages 293-298. DOI: 10.5220/0004122002930298

in Bibtex Style

@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},
}

in EndNote Style

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
AU - Zietkiewicz J.
PY - 2012
SP - 293
EP - 298
DO - 10.5220/0004122002930298