Yan, Yunda;
Zhang, Chuanlin;
Narayan, Ashwin;
Yang, Jun;
Li, Shihua;
Yu, Haoyong;
(2018)
Generalized Dynamic Predictive Control for Nonparametric Uncertain Systems With Application to Series Elastic Actuators.
IEEE Transactions on Industrial Informatics
, 14
(11)
pp. 4829-4840.
10.1109/TII.2018.2804351.
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Abstract
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.
| Type: | Article |
|---|---|
| Title: | Generalized Dynamic Predictive Control for Nonparametric Uncertain Systems With Application to Series Elastic Actuators |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1109/TII.2018.2804351 |
| Publisher version: | http://dx.doi.org/10.1109/tii.2018.2804351 |
| Language: | English |
| Additional information: | This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions. |
| Keywords: | Science & Technology, Technology, Automation & Control Systems, Computer Science, Interdisciplinary Applications, Engineering, Industrial, Computer Science, Engineering, Adaptive control, continuous-time predictive control, motion control systems, nonparametric uncertainty, semi-global stability, variable receding horizon, LINEAR OUTPUT-FEEDBACK, NONLINEAR-SYSTEMS, RIPPLE MINIMIZATION, ADAPTIVE-CONTROL, BENCHMARK PLANT, HIGH-GAIN, MPC, DESIGN, IMPLEMENTATION, IDENTIFICATION |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10192304 |
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