z-logo
open-access-imgOpen Access
Position Control of a Flexible Joint via Explicit Model Predictive Control: An Experimental Implementation
Author(s) -
Massoud Hemmasian Ettefagh,
Mohammad Naraghi,
Farzad Towhidkhah
Publication year - 2019
Publication title -
emerging science journal
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.76
H-Index - 14
ISSN - 2610-9182
DOI - 10.28991/esj-2019-01177
Subject(s) - model predictive control , control theory (sociology) , joint (building) , position (finance) , parametric statistics , computer science , computation , state space , line (geometry) , point (geometry) , control (management) , state space representation , algorithm , mathematical optimization , mathematics , engineering , artificial intelligence , structural engineering , statistics , geometry , finance , economics
This paper experimentally controls a flexible joint via explicit model predictive control (Explicit MPC) method. The scheme divides the state space into different partitions, then solves the associated multi parametric optimization in off-line computations. The result stores in a look-up table to be used in on-line algorithm. First, the state space equations of the flexible joint are derived and linearized around the working point. Then, in order to meet the plant’s specifications, desired performance and the limitation of processor/memory, the constraints, weights, sampling time and prediction horizon are determined for the system. Finally, the algorithm is applied on the experimental plant. Numerous simulations, the result of the experiment and comparison with other methods confirmed that the method was able to control the vibrations of the constrained flexible joint.

The content you want is available to Zendy users.

Already have an account? Click here to sign in.
Having issues? You can contact us here