Unconstrained MPC and PID evaluation for motion profile tracking applications

Tsoeu, Mohohlo; Esmail, M.

doi:10.1109/afrcon.2011.6072037

Cited by 6 publications

(4 citation statements)

References 13 publications

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“…Model predictive control is a control method that combines control and optimization [ 53 , 54 ]. It can solve optimization problems with multiple constraints.…”

Section: Model Predictive Controllermentioning

confidence: 99%

Robust Walking for Humanoid Robot Based on Divergent Component of Motion

Zhang

Shan

et al. 2022

Micromachines

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In order to perform various complex tasks in place of humans, humanoid robots should walk robustly in the presence of interference. In the paper, an improved model predictive control (MPC) method based on the divergent components of motion (DCM) is proposed. Firstly, the humanoid robot model is simplified to a finite-sized foot-pendulum model. Then, the gait of the humanoid robot in the single-support phase (SSP) and double-support phase (DSP) is planned based on DCM. The center of mass (CoM) of the robot will converge to the DCM, which simplifies the feedback control process. Finally, an MPC controller incorporating an extended Kalman filter (EKF) is proposed to realize the tracking of the desired DCM trajectory. By adjusting the step duration, the controller can compensate for CoM trajectory errors caused by disturbances. Simulation results show that—compared with the traditional method—the method we propose achieves improvements in both disturbed walking and uneven-terrain walking.

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“…Model predictive control is a control method that combines control and optimization [ 53 , 54 ]. It can solve optimization problems with multiple constraints.…”

Section: Model Predictive Controllermentioning

confidence: 99%

Robust Walking for Humanoid Robot Based on Divergent Component of Motion

Zhang

Shan

et al. 2022

Micromachines

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“…Because rarely there exists a possibility of measurement of all state variables, often methods of state vector estimation are used, like for example in works [4,12,13,16,27,30,40]. Often used methods of state vector estimation include state observer and Kalman filter.…”

Section: Estimation Of the State Vectormentioning

confidence: 99%

State of the Art in Predictive Control of Wheeled Mobile Robots

Harasim

Trojnacki

2016

JAMRIS

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The paper is concerned with the problem of tracking control of wheeled mobile robots (WMRs) using predictive control systems. Various kinematic structures of WMRs important from the point of view of motion control are discussed. A hierarchical approach to the problem of motion control of this kind of robots is presented. The problems of trajectory tracking and path following control of WMRs are briefly discussed. The methods of predictive control of WMRs are described in detail and the following aspects relevant to predictive control are considered: kinematic structures of robots, slip of wheels and its compensation, assumed constraints, methods of optimization of the objective function, problems of model nonlinearity, linearization and discretization, stability of the control system and use of the state observers.

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“…In Abe (2009), a cubic spline function was proposed for the trajectory planning of a two-link rigid-flexible manipulator. Moreover, some methods such as reducing jerk (Meckl and Arestides, 1998), nonlinear filter (Li et al , 2007), asymmetric motion profile (Rew and Kim, 2007; Ha et al , 2008, 2013b; Nguyen et al , 2007; Rew and Kim, 2010), IST (Rappole et al , 1993; Alici et al , 2006; Tho et al , 2020), error compensation (Chen and Zhou, 2013) and controller design (Ha et al , 2013a; Tsoeu and Esmail, 2011) were proposed to help the motion profiles smoother.…”

Section: Introductionmentioning

confidence: 99%

An optimized cosine jerk motion profile with higher efficiency and flexibility

Zhu

Jin

Zhu

2022

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Purpose The purpose of this paper is to propose a new acceleration/deceleration (acc/dec) algorithm for motion profiles. The motion efficiency, flexibility of the motion profiles and the residual vibration of the movement are discussed in this paper. Design/methodology/approach A dynamics model is developed to assess the residual vibration of these two kinds of motion profile. And a Simulink model is created to assess the motion efficiency and flexibility of the motion profiles with the proposed acc/dec algorithm. Findings Considering the flexibility of trigonometric motion profiles and the higher motion efficiency of S-curve motion profiles, the authors add the polynomial parts into the jerk profile of the cosine function acc/dec algorithm to hold the jerk when it reaches the maximum so that the motion efficiency can increase and decrease residual vibration at the same time. And the cyclical parameter k shows the decisive factor for the flexibility of trigonometric motion profiles. Originality/value Comparing with the traditional motion profiles, the proposed motion profiles have higher motion efficiency and excite less residual vibration. The acc/dec algorithm proposed in this paper is useful for the present motion control and servo system.

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Unconstrained MPC and PID evaluation for motion profile tracking applications

Cited by 6 publications

References 13 publications

Robust Walking for Humanoid Robot Based on Divergent Component of Motion

Robust Walking for Humanoid Robot Based on Divergent Component of Motion

State of the Art in Predictive Control of Wheeled Mobile Robots

An optimized cosine jerk motion profile with higher efficiency and flexibility

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