水下机器人避碰控制是自主作业的重要基础,但复杂的约束条件和模型的不精确性增加了避障路径跟踪的技术难度.在传统模型预测控制的基础上,结合作业场景多种约束条件,引入径向基函数神经网络,提出了一种水平面避碰控制方法.首先,采用径向基神经网络建立误差补偿函数,提高传统动力学预测模型精度;然后,结合避碰路径跟踪控制,在...
Hi, I am using cobra55 platform MPC5777c with Lauterbach debugging tools, please guide me how to create rbf file Please share any reference rbf file for MPC5777C1 Kudo Reply All forum topics Previous Topic Next Topic 1 Reply 12-22-2017 12:50 AM 673 Views petervlna NXP Tech...
Hi, I am using cobra55 platform MPC5777c with Lauterbach debugging tools, please guide me how to create rbf file Please share any reference rbf
The gain-scheduling PID controllers and the MIMO RBF-ARX model-based min–max robust nonlinear MPC (RBF-ARX-Min–Max-MPC) presented in this paper operate in parallel in the proposed control system. The outputs and the inputs of the controlled plant are given as followsy(t)=y1(t):STE(ma...
The system nonlinearity is handled by applying the operating-point dependent RBF-ARX model, that is, a hybrid pseudo-linear time-varying model which is composed of Gaussian radial basis function (RBF) neural networks and linear ARX model structure. The nonlinear MPC proposed in this paper can ...
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