Model Predictive Control Applied into Time Delay Capsubot System

被引：3

作者：

Chen, Wei ^{[1
]}

Fang, Min ^{[1
]}

Yu, Hongnian ^{[2
]}

机构：

[1] HeFei Univ Technol, Dept Automat, Hefei, Peoples R China

[2] Staffordshire Univ, Fac Comp Engn & Technol, Stoke On Trent ST4 2DE, Staffs, England

来源：

2009 INTERNATIONAL CONFERENCE ON INTELLIGENT HUMAN-MACHINE SYSTEMS AND CYBERNETICS, VOL 1, PROCEEDINGS | 2009年

关键词：

capsubot system; model predictive control; time delay system;

D O I：

10.1109/IHMSC.2009.36

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

In this paper, a model predictive controller for time delay capsubot system is presented. Linearized dynamics is used to predictive future system behavior and a control law is derived from a quadratic cost function penalizing the system tracking error and the control effort. It is noted that model predictive control has advantages over state feedback law because of consideration of constraints on inputs or state vectors. Examples are given to illustrate the effectiveness of the approach. Some ideas for future work are also discussed.

引用

页码：112 / +

页数：2

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