Model Predictive Control for Tendon-Driven Balloon Actuator under Constraints on Simulation

2015 ◽  
Vol 789-790 ◽  
pp. 615-620
Author(s):  
Jun Ya Nagase ◽  
Kazuki Hamada ◽  
Toshiyuki Satoh ◽  
Norihiko Saga
Keyword(s):  
Control System ◽  
Model Predictive Control ◽  
Predictive Control ◽  
Impact Force ◽  
Pneumatic Actuator ◽  
Robot Hand ◽  
Control Performance ◽  
Pneumatic Actuators ◽  
Constrained Model ◽  
High Output

Many pneumatic actuators have been developed in order to be lightweight with high output for decreasing impact force. So far, a pneumatic tendon-driven balloon actuator (balloon actuator) which is compact and lightweight has been developed for a robot hand and a rehabilitation device. However, for pneumatic actuator, it is difficult to maintain exact control because these actuators have constraints. For this study, we developed a stroke control system for a balloon actuator using a constrained model predictive control (MPC) scheme that can consider constraints of the plant output. As described in this paper, we compared and evaluated the control performance using MPC and PID.

scholarly journals Performance Assessment of Predictive Control—A Survey

Algorithms ◽  
2020 ◽  
Vol 13 (4) ◽  
pp. 97 ◽  
Author(s):  
Paweł D. Domański
Keyword(s):  
Control System ◽  
Model Predictive Control ◽  
Performance Assessment ◽  
Control Systems ◽  
Predictive Control ◽  
Successful Implementation ◽  
Assessment Procedure ◽  
Control Performance ◽  
Quality Of Control

Model Predictive Control constitutes an important element of any modern control system. There is growing interest in this technology. More and more advanced predictive structures have been implemented. The first applications were in chemical engineering, and now Model Predictive Control can be found in almost all kinds of applications, from the process industry to embedded control systems or for autonomous objects. Currently, each implementation of a control system requires strict financial justification. Application engineers need tools to measure and quantify the quality of the control and the potential for improvement that may be achieved by retrofitting control systems. Furthermore, a successful implementation of predictive control must conform to prior estimations not only during commissioning, but also during regular daily operations. The system must sustain the quality of control performance. The assessment of Model Predictive Control requires a suitable, often specific, methodology and comparative indicators. These demands establish the rationale of this survey. Therefore, the paper collects and summarizes control performance assessment methods specifically designed for and utilized in predictive control. These observations present the picture of the assessment technology. Further generalization leads to the formulation of a control assessment procedure to support control application engineers.

scholarly journals On Modeling and Constrained Model Predictive Control of Open Irrigation Canals

2017 ◽  
Vol 2017 ◽  
pp. 1-10 ◽  
Author(s):  
Lihui Cen ◽  
Ziqiang Wu ◽  
Xiaofang Chen ◽  
Yanggui Zou ◽  
Shaohui Zhang
Keyword(s):  
Model Predictive Control ◽  
Prediction Model ◽  
Predictive Control ◽  
Hyperbolic Partial Differential Equations ◽  
Irrigation Canal ◽  
Irrigation Canals ◽  
Optimal Control Algorithms ◽  
Saint Venant Equations ◽  
Constrained Model ◽  
Constrained Model Predictive Control

This paper proposes a model predictive control of open irrigation canals with constraints. The Saint-Venant equations are widely used in hydraulics to model an open canal. As a set of hyperbolic partial differential equations, they are not solved explicitly and difficult to design optimal control algorithms. In this work, a prediction model of an open canal is developed by discretizing the Saint-Venant equations in both space and time. Based on the prediction model, a constrained model predictive control was firstly investigated for the case of one single-pool canal and then generalized to the case of a cascaded canal with multipools. The hydraulic software SICC was used to simulate the canal and test the algorithms with application to a real-world irrigation canal of Yehe irrigation area located in Hebei province.

Model Predictive Control System Based on FPGA and A Case Study

2011 ◽  
Vol 44 (1) ◽  
pp. 9266-9271
Author(s):  
Nan Yang ◽  
Dewei Li ◽  
Jun Zhang ◽  
Yugeng Xi
Keyword(s):  
Control System ◽  
Model Predictive Control ◽  
Predictive Control
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