TY - GEN
T1 - A distributed model predictive control (D-MPC) for modular robots in chain configuration
AU - Cortes, F.
AU - Linares, D.
AU - Patino, D.
AU - Melo, K.
PY - 2011
Y1 - 2011
N2 - 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.
AB - 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.
KW - Dynamic Model
KW - GPC (Generalized Predictive Control)
KW - MPC (Model Predictive Control)
KW - UMPC (Unconstrained Model Predictive Control)
UR - http://www.scopus.com/inward/record.url?scp=83455179500&partnerID=8YFLogxK
U2 - 10.1109/LARC.2011.6086843
DO - 10.1109/LARC.2011.6086843
M3 - Conference contribution
AN - SCOPUS:83455179500
SN - 9781457716904
T3 - 2011 IEEE 9th Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, LARC 2011 - Conference Proceedings
BT - 2011 IEEE 9th Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, LARC 2011 - Conference Proceedings
T2 - 2011 IEEE 9th Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, LARC 2011
Y2 - 1 October 2011 through 4 October 2011
ER -