Unconstrained NCGPC with a guaranteed closed-loop stability: Case of nonlinear SISO systems with the relative degree greater than four

Dabo, Marcelin; Chafouk, Houcine; Langlois, Nicolas

doi:10.1109/cdc.2009.5400412

Cited by 3 publications

(4 citation statements)

References 7 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Although closed-loop stability is one of the NCGPC’s constraints, the corrected control law procedure that guarantees the stability of the closed-loop system can be applied. 41 However, since ρ i ≱ 4 | ∀ i , the corrected control law procedure does not apply, but we demonstrate in this section that the asymptotic stability of the closed-loop system in Equation (41) is guaranteed. Representing the coefficients of e 1 1 , e 2 1 and e 2 2 as K 11 , K 21 and K 22 respectively, and with the invertability of the decoupling matrix in the control law in Equation (41), the system in Equation (29) can be expressed as follows:…”

Section: The Closed-loop Designmentioning

confidence: 85%

“…Although closedloop stability is one of the NCGPC's constraints, the corrected control law procedure that guarantees the stability of the closed-loop system can be applied. 41 However, since…”

Section: Non-linear Continuous-time Generalized Predictive Controlmentioning

confidence: 99%

“…The closed-loop stability of the system can be established by letting the reference signals v r = 0 and f r = 0 since they do not affect the stability of the linear system in Equation (42). The poles of Equation (42) then become À1:5=T and À1:2561:3307j=T respectively, ensuring that lim (41). Poles of the closed-loop system depend linearly on the prediction time T, thus given a small prediction time, the controlled output will rapidly track the reference signal at the expense of large control torques.…”

Section: Non-linear Continuous-time Generalized Predictive Controlmentioning

confidence: 99%

See 2 more Smart Citations

Modeling a powered wheelchair with slipping and gravitational disturbances on inclined and non-inclined surfaces

et al. 2016

View full text Add to dashboard Cite

Wheelchairs are broadly accepted and are widespread because of the assistance they provide to people with limited mobility. The design of a good controller generally involves the formulation of a comprehensive wheelchair model. Most dynamic models in the literature presume non-inclined planer surfaces within-doors, and therefore fail to take the combined effects of both gravitational forces and rolling friction on the usable-traction into consideration. Wheel-slip situations are also commonly neglected. This paper contributes to wheelchair modeling by proposing and formulating a dynamic model that considers the effects of rolling friction and gravitational potential on the wheelchair’s road-load force, on both inclined and non-inclined surfaces. The dynamic model is derived through the Euler Lagrange procedure, and wheel slip is determined by an approach that reduces the convectional number of slip-detection encoders. In the closed-loop model, the input-output feedback controller is proposed for tracking the user inputs by torque compensation. The optimality of the resulting minimum-phase closed-loop system is then ensured through the performance index of the non-linear continuous-time generalized predictive control with good simulation results.

show abstract

Section: The Closed-loop Designmentioning

confidence: 85%

Section: Non-linear Continuous-time Generalized Predictive Controlmentioning

confidence: 99%

Section: Non-linear Continuous-time Generalized Predictive Controlmentioning

confidence: 99%

See 1 more Smart Citation

Modeling a powered wheelchair with slipping and gravitational disturbances on inclined and non-inclined surfaces

et al. 2016

View full text Add to dashboard Cite

show abstract

“…Non-linear continuous-time generalized predictive control (NCGPC) was first proposed in [23] for linear plants. It has similar properties to those of the discrete time generalized predictive control (GPC), and it is a promising alternative for dealing with fast dynamic nonlinear systems, as mentioned, for example, in [24]. In general, the predictive control problem has specific advantages for solving-in real time-a finite horizon closed-loop optimal control subject to the system dynamic constraints involving states and controls.…”

Section: Introductionmentioning

confidence: 99%

A Non-Linear Continuous-Time Generalized Predictive Control for a Planar Cable-Driven Parallel Robot

2021

View full text Add to dashboard Cite

This paper addresses a novel nonlinear algorithm for the trajectory tracking of a planar cable-driven parallel robot. In particular, we outline a nonlinear continuous-time generalized predictive control (NCGPC). The proposed controller design is based on the finite horizon continuous-time minimization of a quadratic predicted cost function. The tracking error in the receding horizon is approximated using a Taylor-series expansion. The main advantage of the proposed NCGPC is based on using an analytic solution, which can be truncated to a desired degree of order of the Taylor-series. This allows us to achieve a prediction horizon of NCGPC tracking performance. The description of the proposed NCGPC method is followed by a comparison between NCGPC and a conventional computed torque control (CTC) method. Robustness tests are performed by considering payload and parameter uncertainties for both controllers. Simulation results of NCGPC compared to the commonly used CTC prove the effectiveness and advantages of the proposed approach.

show abstract

Path Tracking Controllers for Fast Skidding Rover

Krid

Zamzami

Benamar

2016

Informatics in Control, Automation and Robotics 12th International Conference, ICINCO 2015 Colmar, France, July 21-23, 2015 Rev

View full text Add to dashboard Cite

Unconstrained NCGPC with a guaranteed closed-loop stability: Case of nonlinear SISO systems with the relative degree greater than four

Cited by 3 publications

References 7 publications

Modeling a powered wheelchair with slipping and gravitational disturbances on inclined and non-inclined surfaces

Modeling a powered wheelchair with slipping and gravitational disturbances on inclined and non-inclined surfaces

A Non-Linear Continuous-Time Generalized Predictive Control for a Planar Cable-Driven Parallel Robot

Path Tracking Controllers for Fast Skidding Rover

Contact Info

Product

Resources

About