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A model predictive control approach for time optimal point-to-point motion control
| Content Provider | Semantic Scholar |
|---|---|
| Author | Broeck, Lieboud Van Den Diehl, Moritz Swevers, Jan |
| Copyright Year | 2011 |
| Abstract | Abstract This paper presents a new model predictive control method for time-optimal point-to-point motion control of mechatronic systems. The formulation of time-optimal behavior within the model predictive control framework and the structure of the underlying optimization problem are discussed and modifications are presented in order to decrease the computational load of the numerical solution method such that sampling rates in the millisecond range and long prediction horizons for large point-to-point motions are feasible. An extensive experimental validation on a linear motor drive and an overhead crane setup demonstrates the advantages of the developed time-optimal model predictive control approach in comparison with traditional model predictive control. |
| Starting Page | 1203 |
| Ending Page | 1212 |
| Page Count | 10 |
| File Format | PDF HTM / HTML |
| DOI | 10.1016/j.mechatronics.2011.07.008 |
| Volume Number | 21 |
| Alternate Webpage(s) | http://www.tpbin.com/Uploads/Subjects/e05d61ef-b8d7-4924-9298-385c0e2159d4.pdf |
| Alternate Webpage(s) | https://doi.org/10.1016/j.mechatronics.2011.07.008 |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
