We study in this paper a flatness-based nonlinear predictive control law for a reduced size model of a crane studied in (Kiss, 2001; Kiss et al., 1999; Kiss et al., 2000a; Kiss et al., 2000b). The controller is composed of two parts: the first one is a traditional PD output feedback to track the reference trajectory and reject small perturbations, the second one consists of updating the reference trajectory from the current estimated state of the crane to the desired equilibrium point on a receding horizon each time the pursuit error exceeds a given threshold. Simulations are presented to illustrate its performances.
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机译:我们在本文中研究了起重机尺寸减小模型的基于平面度的非线性预测控制律(Kiss,2001; Kiss et al。,1999; Kiss et al。,2000a; Kiss et al。,2000b)。控制器由两部分组成:第一部分是传统的PD输出反馈,用于跟踪参考轨迹并拒绝细微扰动,第二部分包括将参考轨迹从起重机的当前估计状态更新为所需的平衡点。每次跟踪误差超过给定阈值时,都会逐渐下降。进行仿真以说明其性能。
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