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Applying MPC in the case of rapid sampling, complicated process dynamics lead us to poorly numerically conditioned solutions and heavy computational load. Furthermore, there is always mismatch in a model that describes a real process. Therefore, in this paper in order to prevail over the mentioned difficulties, we design a MPC using Laguerre orthonormal basis functions based on ARMAX models. More...
This paper proposes a hierarchical control structure based on model predictive control to address the vibration suppression of flexible manipulators under the dynamic constraints. Due to the coupling relationship between the trajectory and the flexible vibration, it provides a solution to vibration reduction if the trajectory can be rationally planned. In the decision layer, an optimal reference trajectory...
In this paper, we present how model predictive control (MPC) is applied to a lane keeping system and how realtime solution is calculated. In the case of fast systems, real-time solution is very difficult to calculate in the sample time because the system has complex formulation and many constraints. The two proposed methods such as proximate MPC and fast MPC reduce the computation time by finding...
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