A feedback min-max MPC algorithm for LPV systems subject to bounded rates of change of parameters A novel closed-loop model-based predictive control (MPC) strategy for input-saturated polytopic linear parameter varying (LPV) discrete-time systems is pro... A Casavola,D Famularo,G Franzè - ...
A robust model predictive controller(MPC)based on quasi-min-max MPC is developed for a discrete-time uncertain time-delay system with input constraints.A robust performance index is defined and the sufficient conditions of stability are presented for the time-delay system,and the controller is obta...
1 INTRODUCTION Model predictive control is one of the most promising and significant control approaches that can cope in a direct way with multivariable systems, constraints, and uncertainty. Over the last decade, due to the uncertainty of practical systems, robust MPC has attracted great attention,...
Input‐to‐state stability of min‐max MPC scheme for nonlinear time‐varying delay systems Chen Q X; He D F; Yu L.Input-to-state stability of min-max MPC scheme for nonlinear time-varying delay systems.Asian J of Control.2012.489-501... QX Chen,DF He,Y Li - 《Asian Journal of ...
uint_to_float(v_int, V_MIN, V_MAX, 12);//期望速度 controller->kp = uint_to_float(kp_int, KP_MIN, KP_MAX, 12);//期望Kp controller->kd = uint_to_float(kd_int, KD_MIN, KD_MAX, 12);//期望Kd controller->t_ff = uint_to_float(t_int, T_MIN, T_MAX, 12);//期望前馈...
quasi-min-maxmpcalgorithmforvisualservoingsystemwithdepthinformation 系统标签: mpcservoingmaxquasidepthmin 287Vol.28No.7ControlandDecision20137Jul.2013MPC:1001-0920(2013)07-1018-05,(214122):,(MPC).,,.,.,..::TP29:AQuasi-min-maxMPCalgorithmforvisualservoingsystemwithdepthinformationWANGTing-ting,LIU...
nonlinearMPC.IndexTermsConstrainednonlinearsystem,Min-maxpredictivecontrol,Ellipsoidalinvariantset,LPVembedding,Linearmatrixinequality.INTRODUCTIONMPC(ModelPredictiveControl)mostsignificantcontrolapproachescancopemultivariablesystems,constraints,uncertainty.Howeverwhenprocesseshavehighlynonlinearbehaviour,nonlinearmodelsshouldMPC....
scale = cosmo.kpc_proper_per_arcmin(halo_data["redshift"]).to("Mpc/arcmin")# 600. arcmin = 10 degrees (total FOV of catalog = 100 deg^2)fov_cat =10.0*60.0w = construct_wcs(*sky_center) cat_min =-0.5*fov_cat cat_max =0.5*fov_catifcat_centerisNone: ...
3)convertToStateCommands:最核心的控制模块,包括最核心的动力学算法等(重点),比如MPC,WBC等。 4)updateCommand:控制命令下发,控制电机驱动器,这也是经过上述一系列算法运算后得到能够被电机控制器直接执行的命令,比如关节电机角度,角速度,Kp,Kd,前馈力矩。
开发者ID:Samangan,项目名称:mpc-hc,代码行数:93,代码来源:pthread.c 示例4: multiple_resample ▲点赞 1▼ staticintmultiple_resample(ResampleContext *c, AudioData *dst,intdst_size, AudioData *src,intsrc_size,int*consumed){inti;intav_unused mm_flags = av_get_cpu_flags();intneed_emms = c...