TY  - JOUR
UR  - http://dx.doi.org/10.1109/tii.2018.2804351
PB  - IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
TI  - Generalized Dynamic Predictive Control for Nonparametric Uncertain Systems With Application to Series Elastic Actuators
AV  - public
A1  - Yan, Yunda
A1  - Zhang, Chuanlin
A1  - Narayan, Ashwin
A1  - Yang, Jun
A1  - Li, Shihua
A1  - Yu, Haoyong
SP  - 4829
SN  - 1551-3203
EP  - 4840
IS  - 11
KW  - Science & Technology
KW  -  Technology
KW  -  Automation & Control Systems
KW  -  Computer Science
KW  -  Interdisciplinary Applications
KW  -  Engineering
KW  -  Industrial
KW  -  Computer Science
KW  -  Engineering
KW  -  Adaptive control
KW  -  continuous-time predictive control
KW  -  motion control systems
KW  -  nonparametric uncertainty
KW  -  semi-global stability
KW  -  variable receding horizon
KW  -  LINEAR OUTPUT-FEEDBACK
KW  -  NONLINEAR-SYSTEMS
KW  -  RIPPLE MINIMIZATION
KW  -  ADAPTIVE-CONTROL
KW  -  BENCHMARK PLANT
KW  -  HIGH-GAIN
KW  -  MPC
KW  -  DESIGN
KW  -  IMPLEMENTATION
KW  -  IDENTIFICATION
Y1  - 2018/11/01/
N2  - One weakness of the model predictive control method is that the predicted states/outputs are constructed by an exact nominal model. Its accuracy varies if uncertainties exist, which will ultimately deteriorate the closed-loop control performances. To this end, we propose a generalized dynamic predictive control method for a class of lower-triangular systems subjected to nonparametric uncertainties. Instead of relying on the inherent robustness property of the standard predictive controller or on-/off-line parameter identification, a dual-layer adaptive law is designed to estimate the lumped effect of system uncertainties. As another main contribution, under a less ambitious but more practical control objective, namely semi-global stability, various nonlinearity growth constraints utilized in the existing related methods could be essentially relaxed. Numerical simulation and illustrative experimental tests of a series elastic actuator system are provided to demonstrate both simplicity and effectiveness of the proposed method.
JF  - IEEE Transactions on Industrial Informatics
N1  - This version is the author accepted manuscript. For information on re-use, please refer to the publisher?s terms and conditions.
VL  - 14
ID  - discovery10192304
ER  -