控制理论(社会学)
模型预测控制
多输入多输出
非线性系统
稳健性(进化)
整体滑动模态
工程类
计算机科学
控制(管理)
滑模控制
人工智能
频道(广播)
生物化学
物理
化学
量子力学
电气工程
基因
作者
Kelechi U. Ebirim,Andrea Lecchini-Visintini,Matteo Rubagotti,Emmanuel Prempain
出处
期刊:Journal of Dynamic Systems Measurement and Control-transactions of The Asme
[ASME International]
日期:2023-07-04
卷期号:145 (8)
摘要
Abstract This paper describes the design and successful implementation of a constrained model predictive controller with integral action for the control of a Twin Rotor MIMO System (TRMS). The integral action guarantees zero steady-state error in set-point tracking with robustness toward perturbations of the nominal system parameters. In addition to saturation constraints on the input variables, hard constraints are imposed on the controlled output variables, i.e., on pitch and yaw angular positions, to avoid collisions with obstacles. The model predictive controller was designed using a high-fidelity nonlinear model of the TRMS developed in previous work. As an intermediate step, exact linearized models of the TRMS are obtained and their closed-form expressions are reported. The controller was tested experimentally, also showing its effectiveness in ensuring actual collision avoidance by the TRMS when physical obstacles were present.
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