TRACKING OF NON-STANDARD TRAJECTORIES USING MPC METHODS WITH CONSTRAINTS HANDLING ALGORITHM
Journal Title: Scientific Journal of Astana IT University - Year 2022, Vol 11, Issue 11
Abstract
In recent decades, a Model-Based Predictive Control (MPC) has revealed its dominance over other control methods such as having an ability of constraints handling and input optimization in terms of the value function. However, the complexity of the realization of the MPC algorithm on real mechatronic systems remains one of the major challenges. Traditional predictive control approaches are based on zero regulation or a step change. Nevertheless, more complicated systems still exist that need to track setpoint trajectories. Currently, there is an active development of robotics and the creation of transport networks of movement without human participation. Therefore, the issue of programming the given trajectories of vehicles is relevant. In this article, authors reveal the alternative solution for tracking non-standard trajectories in spheres such as robotics, IT in mechatronics, etc., that could be used in self-driving cars, drones, rockets, robot arms and any other automized systems in factories. The ability of Model-Based Predictive Control (MPC) such as the constraints handling and optimization of input in terms of the value function makes it extremely attractive in the industry. Nevertheless, the complexity of implementation of MPC algorithm on real mechatronic systems remains one of the main challenges. Secondly, common predictive control algorithms are based on the regulation approach or a simple step shift. However, there exist systems that are more complicated where a setpoint to be tracked is given in the form of trajectories. In this project, there were made several modifications in order to improve an MPC algorithm to make better use of information about the trajectories.
Authors and Affiliations
A. Khaimuldin, T. Mukatayev, N. Assanova, N. Khaimuldin, S. Alshynov
Keywords
Related Articles
- EP ID EP712458
- DOI 10.37943/AEPO1273
- Views 83
- Downloads 0
FEASIBILITY ANALYSIS OF AIR FLOATING DESIGN FOR ELECTRICITY GENERATION
In the past several decades, there were presented different innovative technologies rather than traditional wind turbines for renewable energy that uses wind kinetic energy and remains in the air through aerodynamic fo...
NEURAL NETWORK MODELING AND OPTIMISING OF THE AGGLOMERATION PROCESS OF SULPHIDE POLYMETALLIC ORES
During the operation of the lead-zinc production while processing of polymetallic ores, problems arose related to the quality of products and the efficient use of equipment – agglomeration furnace and crushing apparatus...
METHODS OF INFORMATION SECURITY IN WIRELESS NETWORKS
The development of information technology sets the task of improving the reliability of computer networks. To study the security of networks, it is necessary to study the creation of network protocols, network architectu...
ON THE DEVELOPMENT OF MANAGEMENT MODELS FOR REGIONAL PROGRAMS OF ENVIRONMENTALLY SAFE OPERATION AT CRITICAL TRANSPORT INFRASTRUCTURE FACILITIES
The objects of the critical transport infrastructure are located in all regions of Ukraine, and the question of the safety of these objects is extremely relevant. A functional approach should be used to form an effective...
MODEL OF POPULATION MIGRATION IN AGGLOMERATIONS WITHIN THE FRAMEWORK OF THE “SMART CITY” PARADIGM
The urban agglomeration is a multitude of united settlements according to economic, labor, cultural, household, and recreational characteristics. Agglomeration is perceived as an integral territorial union; therefore,...