ورقة بحثية
Nonlinear Predictive Control With End Point Constraints = البنية الخطية التنبؤية مع تحديد النقطة النهائية

Hedjar, Ramdane.


 

Nonlinear Predictive Control With End Point Constraints = البنية الخطية التنبؤية مع تحديد النقطة النهائية

Hedjar, Ramdane.

The optimal nonlinear predictive control structure with end point constraints is presented, which provides asymptotic tracking of smooth reference trajectories. The controller is based on a finite horizon continuous time minimization of nonlinear predicted tracking errors. A key feature of the control law is that its implementation does not need to perform an online optimization, and asymptotic tracking of smooth reference signal is guaranteed. The proposed control scheme is applied to planning motions problem of a mobile robot. Simulations results are performed to validate the tracking performance of the proposed controller

The optimal nonlinear predictive control structure with end point constraints is presented, which provides asymptotic tracking of smooth reference trajectories. The controller is based on a finite horizon continuous time minimization of nonlinear predicted tracking errors. A key feature of the contr...

مادة فرعية

المؤلف : Hedjar, Ramdane.

بيانات النشر : Muscat، Sultanate of Oman : Sultan Qaboos University/ The Journal of Engineering Research، 2006مـ.

التصنيف الموضوعي : العلوم التطبيقية|الهندسة .

المواضيع : Engineering .

Computer Engineering .

الهندسة .

هندسة الحاسوب .

رقم الطبعة : 1

المصدر : Sultan Qaboos University : Muscat، Sultanate of Oman.

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