Model predictive control of a collaborative manipulator considering dynamic obstacles

Model Predictive Control of a Two - Link Flexible Manipulator

Dynamic Model Predictive Control

In this paper an alternative approach to model predictive control is presented. In traditional MPC a finite horizon open loop optimal control problem is solved in each sampling instance. When uncertainties such as computational delays are present, one can encounter problems. We propose to parametrize the control sequence in each sampling instant in terms of a linear feedback controller, i.e. in...

Model Predictive Inferential Control of a Distillation Column

Typical production objectives in distillation process require the delivery of products whose compositions meet certain specifications. The distillation control system, therefore, must hold product compositions as near the set points as possible in faces of upset. In this project, inferential model predictive control, that utilizes an artificial neural network estimator and model predictive cont...

Path Tracking Control Of A Manipulator Considering Torque Saturation

When the minimum-time trajectory of a manipulator along a geometrically prescribed path is planned taking into consideration the manipulator’s dynamics and actuator’s torque limits, at least one of the joints should be at the torque limit. The execution of such a trajectory by a conventional feedback control scheme results in torque saturation. Consequently, the tracking error cannot be suppres...

Model Predictive Control of Water Networks considering Flow

Water transport networks (WTN) are generally used to convey water from production plants or sources to storage tanks close to the consumptions areas. Tanks are usually built with enough elevation to guarantee the service pressure required for their associated consumption area. WTNs contain large water mains and control elements, such as pumping stations and valves, linking the sources to consum...