Lower limbs movement restoration using input-output feedback linearization and model predictive control

2007 ◽  
Author(s):  
Samer Mohammed ◽  
Philippe Poignet ◽  
Philippe Fraisse ◽  
David Guiraud
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Output Feedback ◽  
Feedback Linearization ◽  
Lower Limbs ◽  
Input Output

scholarly journals Convergence Guaranteed Nonlinear Constraint Model Predictive Control via I/O Linearization

2013 ◽  
Vol 2013 ◽  
pp. 1-9
Author(s):  
Xiaobing Kong ◽  
Xiangjie Liu ◽  
Xiuming Yao
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Output Feedback ◽  
Feedback Linearization ◽  
Optimal Solution ◽  
Quadratic Program ◽  
Control Input ◽  
Input Output ◽  
Nonlinear Constraint ◽  
Constraint Model

Constituting reliable optimal solution is a key issue for the nonlinear constrained model predictive control. Input-output feedback linearization is a popular method in nonlinear control. By using an input-output feedback linearizing controller, the original linear input constraints will change to nonlinear constraints and sometimes the constraints are state dependent. This paper presents an iterative quadratic program (IQP) routine on the continuous-time system. To guarantee its convergence, another iterative approach is incorporated. The proposed algorithm can reach a feasible solution over the entire prediction horizon. Simulation results on both a numerical example and the continuous stirred tank reactors (CSTR) demonstrate the effectiveness of the proposed method.

Output-Feedback RLS-Based Model Predictive Control*

2020 ◽  
Author(s):  
Tam W. Nguyen ◽  
Syed Aseem Ul Islam ◽  
Adam L. Bruce ◽  
Ankit Goel ◽  
Dennis S. Bernstein ◽  
...  
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Output Feedback

Output Feedback Model Predictive Control: a probabilistic approach

2014 ◽  
Vol 47 (3) ◽  
pp. 7461-7466 ◽  
Author(s):  
M. Farina ◽  
L. Giulioni ◽  
L. Magni ◽  
R. Scattolini
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Output Feedback ◽  
Probabilistic Approach ◽  
Feedback Model
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