Uloženo v:
| Hlavní autoři: | , |
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| Médium: | Preprint |
| Vydáno: |
2020
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| Témata: | |
| On-line přístup: | https://arxiv.org/abs/2003.05962 |
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Obsah:
- Distributed parameter systems (DPS) are formulated as partial differential equations (PDE). Especially, under time-varying boundary conditions, PDE introduce force coupling. In the case of the flexible stacker crane (STC), nonlinear coupling is introduced. Accordingly, online trajectory planning and tracking can be addressed using a nonlinear model predictive control (NMPC). However, due to the high computational demands of a NMPC, this paper discusses a possibility of embedding nonlinearities inside a linear parameter varying (LPV) system and thus make a use of a numerically low-demanding linear MPC. The resulting mismatches are treated as parametric and additive uncertainties in the context of robust tube-based MPC (TMPC). For the proposed approach, most of the computations are carried out offline. Only a simple convex quadratic program (QP) is conducted online. Additionally a soft-constrained extension was briefly proposed. Simulation results are used to illustrate the good performance, closed-loop stability and recursive feasibility of the proposed approach despite uncertainties.