0% Complete
صفحه اصلی
/
بیست و نهمین کنفرانس مهندسی برق ایران
Robust Laguerre based model predictive control for trajectory tracking of LTV systems
نویسندگان :
Marzieh Jamalabadi
1
Mahyar Naraghi
2
Iman Sharifi
3
Elnaz Firouzmand
4
1- Amirkabir University of Technology
2- Amirkabir University of Technology
3- Amirkabir University of Technology
4- Amirkabir University of Technology
کلمات کلیدی :
Robust MPC, Tube Based MPC, LTV systems, Laguerre functions, Trajectory Tracking
چکیده :
In this paper, the trajectory tracking of a nonholonomic, linear time-varying (LTV) mobile robot is studied. The slippery surface condition is a source of uncertainty for this constrained mobile robot and is modeled as a bounded additive disturbance. The primary objective is to design a robust model predictive control based on Laguerre functions utilizing the tubes' theory. The system's time-varying dynamic results in generating time-varying tubes and increasing the operation time. To tackle this challenge, we performed some off-line calculations to guarantee the control algorithm's real-time operation, ensuring satisfactory performance and stability. Two controllers were designed. In the first case, the designing inputs changed through the execution time, while the other controller was just designed for the specifically chosen dynamic. Illustrative simulations are presented to show the applicability of the proposed method.
لیست مقالات
لیست مقالات بایگانی شده
طراحی یک چارچوب غیر متمرکز تبادل انرژی برای مصرفکنندههای فعال در بازارهای همتا به همتا (P2P)
امیر زارع بخت پیما چمثقالی - مهدی مهدینژاد - مهرداد عابدی
Network-based functional connectivity in MDD with suicide ideation before and after TMS: An fMRI case study
Moslem Khafi - Morteza Fattahi - Hamid Soltanian-Zadeh - Reza Rostami
A 6-12 GHz Wideband RF PIN Diodes based Limiter with 1-dB Insertion Loss and 30-dB Limitation Rate
Sina Rezaeeahvanouee - Javad Ghalibafan
Design and Implementation of a fast flexible and efficient multichannel digital filter for hearing aids
Mohammadsadegh Poushnegar - Mahmoud Tabandeh - Meysam Nesary Moghadam - Farzam Gilani - Ali Aghakasiri
Robust H∞ Control Design for Variable-Speed Wind Turbines Using Bilinear Matrix Inequalities
Hamidreza Javanmardi - Alireza Hamedi - Mahya Rahimzadeh
Numerical study of different pillar shapes using deterministic lateral displacement method for particle separation
Mohammad Mahdi Eskandari Sani - Mahdi Aliverdinia - Mahdi Moghimi Zand
امکان سنجی نظری آشکارسازی گاز سولفید هیدروژن توسط سیلی گرافن (g-SiC2)
حامد مهدوی نژاد - رزا صفایی - محمدحسین شیخی
A Novel Method to Estimate Thevenin Equivalent Circuit Using Local Measurements
Pouria Akbarzadeh Aghdam - Hamid Khoshkhoo
Developing a superlens with High Resolution using Quantum Dot Nano-Particles
Amin Monemian Esfahani - Leila Yousefi
Autoencoders for Input Reduction in Interval Type-2 Hyperbolic Fuzzy System Identification and Control: Experimental Results
Behnaz Mohammadi - Nazanin Ildarabadi - Mohammad-R Akbarzadeh-T
بیشتر
ثمین همایش، سامانه مدیریت کنفرانس ها و جشنواره ها - نگارش 43.6.0
