This paper proposes the use of Model Predictive Control (MPC) to control a fast mechanical system. In particular an MPC strategy is applied to a laboratory flexible arm to perform a fast positioning of the end-effector with limited oscillations during the maneuver. The on-line implementation of a fast MPC is obtained with an ad hoc platform based on Cþþ and MATLAB while the MPC tuning is based on a nonlinear model identified and validated with experimental data. The effectiveness of the proposed method is highlighted with some suitable experiments performed on the plant. In particular the comparison with a Linear Quadratic Regulator stresses the advantage of the MPC capability to explicitly handle input and state constraints.This feature guarantees smaller displacements that imply a structure stress reduction.
Multivariable predictive control for vibrating structures: An application
BOSSI, LUCA;ROTTENBACHER, CARLO EUGENIO ALESSANDRO;MIMMI, GIOVANNI;MAGNI, LALO
2011-01-01
Abstract
This paper proposes the use of Model Predictive Control (MPC) to control a fast mechanical system. In particular an MPC strategy is applied to a laboratory flexible arm to perform a fast positioning of the end-effector with limited oscillations during the maneuver. The on-line implementation of a fast MPC is obtained with an ad hoc platform based on Cþþ and MATLAB while the MPC tuning is based on a nonlinear model identified and validated with experimental data. The effectiveness of the proposed method is highlighted with some suitable experiments performed on the plant. In particular the comparison with a Linear Quadratic Regulator stresses the advantage of the MPC capability to explicitly handle input and state constraints.This feature guarantees smaller displacements that imply a structure stress reduction.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
