A distributed model predictive control (D-MPC) for modular robots in chain configuration

F. Cortes; D. Linares; D. Patino; K. Melo

doi:10.1109/LARC.2011.6086843

A distributed model predictive control (D-MPC) for modular robots in chain configuration

F. Cortes, D. Linares, D. Patino, K. Melo

Universidad Javeriana

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

7 Scopus citations

Abstract

This paper shows the design of a distributed predictive control, applied to a robotic chain of six modules. The dynamic model is obtained for a single module which is validated through the SimMechanics blockset of MATLAB. With the obtained model, a controller is designed using different predictive control strategies to choose the one that shows a better performance in terms of overshoot and settling time. Finally, the predictive control is distributed up to six modules, and its performance is evaluated by varying typical parameters of the predictive control such as the horizons of prediction, the control horizon, and the weights among others.

Original language	English
Title of host publication	2011 IEEE 9th Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, LARC 2011 - Conference Proceedings
DOIs	https://doi.org/10.1109/LARC.2011.6086843
State	Published - 2011
Event	2011 IEEE 9th Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, LARC 2011 - Bogota, D.C., Colombia Duration: 01 Oct 2011 → 04 Oct 2011

Publication series

Name	2011 IEEE 9th Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, LARC 2011 - Conference Proceedings

Conference

Conference	2011 IEEE 9th Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, LARC 2011
Country/Territory	Colombia
City	Bogota, D.C.
Period	01/10/11 → 04/10/11

Keywords

Dynamic Model
GPC (Generalized Predictive Control)
MPC (Model Predictive Control)
UMPC (Unconstrained Model Predictive Control)

Access to Document

10.1109/LARC.2011.6086843

Cite this

Cortes, F., Linares, D., Patino, D., & Melo, K. (2011). A distributed model predictive control (D-MPC) for modular robots in chain configuration. In 2011 IEEE 9th Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, LARC 2011 - Conference Proceedings Article 6086843 (2011 IEEE 9th Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, LARC 2011 - Conference Proceedings). https://doi.org/10.1109/LARC.2011.6086843

Cortes, F. ; Linares, D. ; Patino, D. et al. / A distributed model predictive control (D-MPC) for modular robots in chain configuration. 2011 IEEE 9th Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, LARC 2011 - Conference Proceedings. 2011. (2011 IEEE 9th Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, LARC 2011 - Conference Proceedings).

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title = "A distributed model predictive control (D-MPC) for modular robots in chain configuration",

abstract = "This paper shows the design of a distributed predictive control, applied to a robotic chain of six modules. The dynamic model is obtained for a single module which is validated through the SimMechanics blockset of MATLAB. With the obtained model, a controller is designed using different predictive control strategies to choose the one that shows a better performance in terms of overshoot and settling time. Finally, the predictive control is distributed up to six modules, and its performance is evaluated by varying typical parameters of the predictive control such as the horizons of prediction, the control horizon, and the weights among others.",

keywords = "Dynamic Model, GPC (Generalized Predictive Control), MPC (Model Predictive Control), UMPC (Unconstrained Model Predictive Control)",

author = "F. Cortes and D. Linares and D. Patino and K. Melo",

year = "2011",

doi = "10.1109/LARC.2011.6086843",

language = "English",

isbn = "9781457716904",

series = "2011 IEEE 9th Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, LARC 2011 - Conference Proceedings",

booktitle = "2011 IEEE 9th Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, LARC 2011 - Conference Proceedings",

note = "2011 IEEE 9th Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, LARC 2011 ; Conference date: 01-10-2011 Through 04-10-2011",

}

Cortes, F, Linares, D , Patino, D & Melo, K 2011, A distributed model predictive control (D-MPC) for modular robots in chain configuration. in 2011 IEEE 9th Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, LARC 2011 - Conference Proceedings., 6086843, 2011 IEEE 9th Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, LARC 2011 - Conference Proceedings, 2011 IEEE 9th Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, LARC 2011, Bogota, D.C., Colombia, 01/10/11. https://doi.org/10.1109/LARC.2011.6086843

A distributed model predictive control (D-MPC) for modular robots in chain configuration. / Cortes, F.; Linares, D.; Patino, D. et al.
2011 IEEE 9th Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, LARC 2011 - Conference Proceedings. 2011. 6086843 (2011 IEEE 9th Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, LARC 2011 - Conference Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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KW - GPC (Generalized Predictive Control)

KW - MPC (Model Predictive Control)

KW - UMPC (Unconstrained Model Predictive Control)

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Cortes F, Linares D , Patino D, Melo K. A distributed model predictive control (D-MPC) for modular robots in chain configuration. In 2011 IEEE 9th Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, LARC 2011 - Conference Proceedings. 2011. 6086843. (2011 IEEE 9th Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, LARC 2011 - Conference Proceedings). doi: 10.1109/LARC.2011.6086843

A distributed model predictive control (D-MPC) for modular robots in chain configuration

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Keywords

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