Implementation of the model predictive control for on-line trajectory planning of a walking robot subjected to external disturbances

2011 ◽  
Author(s):  
A. Bagheri ◽  
B. Miripour-Fard
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Trajectory Planning ◽  
Walking Robot ◽  
External Disturbances ◽  
On Line ◽  
Line Trajectory

scholarly journals Incorporating model predictive control with fuzzy approximation for robot manipulation under remote center of motion constraint

2021 ◽  
Author(s):  
Hang Su ◽  
Junhao Zhang ◽  
Ziyu She ◽  
Xin Zhang ◽  
Ke Fan ◽  
...  
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Model Predictive Control ◽  
Predictive Control ◽  
Robot Manipulator ◽  
Robot Assisted ◽  
External Disturbances ◽  
Fuzzy Approximation ◽  
Control Framework ◽  
Motion Constraint

AbstractRemote center of motion (RCM) constraint has attracted many research interests as one of the key challenges for robot-assisted minimally invasive surgery (RAMIS). Although it has been addressed by many studies, few of them treated the motion constraint with an independent workspace solution, which means they rely on the kinematics of the robot manipulator. This makes it difficult to replicate the solutions on other manipulators, which limits their population. In this paper, we propose a novel control framework by incorporating model predictive control (MPC) with the fuzzy approximation to improve the accuracy under the motion constraint. The fuzzy approximation is introduced to manage the kinematic uncertainties existing in the MPC control. Finally, simulations were performed and analyzed to validate the proposed algorithm. By comparison, the results prove that the proposed algorithm achieved success and satisfying performance in the presence of external disturbances.

On-Line Model Predictive Control for Energy Efficiency in Data Center

2021 ◽  
Vol 38 (12) ◽  
pp. 943-951
Author(s):  
Min Sik Chu ◽  
Hyun Ah Kim ◽  
Kyu Jong Lee ◽  
Ji Hoon Kang
Keyword(s):  
Energy Efficiency ◽  
Model Predictive Control ◽  
Predictive Control ◽  
Data Center ◽  
Line Model ◽  
On Line

Mixed Integer Linear Programming for UAV Trajectory Planning Problem

2014 ◽  
Vol 541-542 ◽  
pp. 1473-1477 ◽  
Author(s):  
Lei Zhang ◽  
Zhou Zhou ◽  
Fu Ming Zhang
Keyword(s):  
Real Time ◽  
Predictive Control ◽  
Trajectory Planning ◽  
Arrival Time ◽  
Linear Constraints ◽  
Mixed Integer ◽  
Planning Problem ◽  
Convex Constraints ◽  
3D Environments ◽  
On Line

This paper describes a method for vehicles flying Trajectory Planning Problem in 3D environments. These requirements lead to non-convex constraints and difficult optimizations. It is shown that this problem can be rewritten as a linear program with mixed integer linear constraints that account for the collision avoidance used in model predictive control, running in real-time to incorporate feedback and compensate for uncertainty. An example is worked out in a real-time scheme, solved on-line to compensate for the effect of uncertainty as the maneuver progresses. In particular, we compare receding horizon control with arrival time approaches.

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