Predictive Simulation of Reaching Moving Targets Using Nonlinear Model Predictive Control

Predictive Simulation of Reaching Moving Targets Using Nonlinear Model Predictive Control

This article investigates the application of optimal feedback control to trajectory planning in voluntary human arm movements. A nonlinear model predictive controller (NMPC) with a finite prediction horizon was used as the optimal feedback controller to predict the hand trajectory planning and execution of planar reaching tasks. The NMPC is completely predictive, and motion tracking or electrom...

Improved Optimization Process for Nonlinear Model Predictive Control of PMSM

Model-based predictive control (MPC) is one of the most efficient techniques that is widely used in industrial applications. In such controllers, increasing the prediction horizon results in better selection of the optimal control signal sequence. On the other hand, increasing the prediction horizon increase the computational time of the optimization process which make it impossible to be imple...

Nonlinear Model Predictive Control

Introduction to Nonlinear Model Predictive Control and Moving Horizon Estimation

Nonlinear model predictive control and moving horizon estimation are related methods since both are based on the concept of solving an optimization problem that involves a finite time horizon and a dynamic mathematical model. This chapter provides an introduction to these methods, with emphasis on how to formulate the optimization problem. Both theoretical and practical aspects are treated, ran...

Nonparametric Nonlinear Model Predictive Control

−Model Predictive Control (MPC) has recently found wide acceptance in industrial applications, but its potential has been much impeded by linear models due to the lack of a similarly accepted nonlinear modeling or databased technique. Aimed at solving this problem, the paper addresses three issues: (i) extending second-order Volterra nonlinear MPC (NMPC) to higher-order for improved prediction ...