NDLI: Robust Soft-Landing Control with Quantized Input

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Robust Soft-Landing Control with Quantized Input

Content Provider	Semantic Scholar
Author	Danielson Cairano, Di
Abstract	We propose a controller architecture for soft-landing control with quantized input. The objective of the soft-landing problem is to achieve precise positioning of a moving object at a target position, while ensuring the velocity decreases as the target is approached. In this paper, we formulate the soft-landing problem as a constrained control problem. Our approach combines traditional convex model predictive control with a rounding rule that quantizes the input. The rounding rule is designed to minimize the error between the requested and quantized inputs. A robust control invariant set is used to ensure that the rounding errors do not lead to constraint violations. We demonstrate our approach for a transportation system case study. Symposium on Nonlinear Control Systems This work may not be copied or reproduced in whole or in part for any commercial purpose. Permission to copy in whole or in part without payment of fee is granted for nonprofit educational and research purposes provided that all such whole or partial copies include the following: a notice that such copying is by permission of Mitsubishi Electric Research Laboratories, Inc.; an acknowledgment of the authors and individual contributions to the work; and all applicable portions of the copyright notice. Copying, reproduction, or republishing for any other purpose shall require a license with payment of fee to Mitsubishi Electric Research Laboratories, Inc. All rights reserved. Copyright c © Mitsubishi Electric Research Laboratories, Inc., 2016 201 Broadway, Cambridge, Massachusetts 02139 Robust Soft-Landing Control with
File Format	PDF HTM / HTML
Alternate Webpage(s)	http://www.merl.com/publications/docs/TR2016-108.pdf
Language	English
Access Restriction	Open
Subject Keyword	Acknowledgment index Broadway (microprocessor) Conferences Control system Controllers Copy (object) Copyright Electroconvulsive Therapy Fees Laboratory Nonlinear programming Precise Point Positioning Quantization (signal processing) Request - action Robust control Round-off error Rounding Velocity (software development)
Content Type	Text
Resource Type	Article

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