본문 바로가기
  • 학술대회자료

표지

DBpia에서 서비스 중인 논문에 한하여 피인용 수가 반영됩니다. 내서재에 논문을 담은 이용자 수의 총합입니다.

초록·키워드 목차

In this paper, a model predictive control scheme for a class of nonlinear systems is presented. In the proposed algorithm, the new cost function for MPC is defined. This cost function is inspired by the structure of passivity-based control. By simple tuning of weighting matrices, the asymptotic stability is guaranteed. Moreover, a closed-form solution to the optimal control problem is calculated via representing the nonlinear system in the state-dependent coefficient form of the state-space model. This point is of great importance in online applications. To demonstrate its efficiency, the passivity-based structured MPC is applied to control a rotational motion of a rigid body. #Model predictive control #Passive systems #Passivity-based control

Abstract
1. INTRODUCTION
2. A NEW STRUCTURE FOR MPC COST FUNCTION
3. A CLOSED-FORM SOLUTION
4. ILLUSTRATIVE EXAMPLE
REFERENCES

저자의 논문

DBpia에서 서비스 중인 논문에 한하여 피인용 수가 반영됩니다.
논문의 정보가 복사되었습니다.
붙여넣기 하세요.