Position Control of a Flexible Joint via Explicit Model Predictive Control: An Experimental Implementation
This paper experimentally controls a flexible joint via explicit model predictive control (Explicit MPC) method. The scheme divides the state space into different partitions, then solves the associated multi parametric optimization in off-line computations. The result stores in a look-up table to be...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Ital Publication
2019-06-01
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| Series: | Emerging Science Journal |
| Subjects: | |
| Online Access: | https://ijournalse.org/index.php/ESJ/article/view/174 |
| _version_ | 1818020840605745152 |
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| author | Massoud Hemmasian Ettefagh Mahyar Naraghi Farzad Towhidkhah |
| author_facet | Massoud Hemmasian Ettefagh Mahyar Naraghi Farzad Towhidkhah |
| author_sort | Massoud Hemmasian Ettefagh |
| collection | DOAJ |
| description | This paper experimentally controls a flexible joint via explicit model predictive control (Explicit MPC) method. The scheme divides the state space into different partitions, then solves the associated multi parametric optimization in off-line computations. The result stores in a look-up table to be used in on-line algorithm. First, the state space equations of the flexible joint are derived and linearized around the working point. Then, in order to meet the plant’s specifications, desired performance and the limitation of processor/memory, the constraints, weights, sampling time and prediction horizon are determined for the system. Finally, the algorithm is applied on the experimental plant. Numerous simulations, the result of the experiment and comparison with other methods confirmed that the method was able to control the vibrations of the constrained flexible joint. |
| first_indexed | 2024-04-14T08:10:50Z |
| format | Article |
| id | doaj.art-41bcc335e26d42cbadefe473bbfa471e |
| institution | Directory Open Access Journal |
| issn | 2610-9182 |
| language | English |
| last_indexed | 2024-04-14T08:10:50Z |
| publishDate | 2019-06-01 |
| publisher | Ital Publication |
| record_format | Article |
| series | Emerging Science Journal |
| spelling | doaj.art-41bcc335e26d42cbadefe473bbfa471e2022-12-22T02:04:34ZengItal PublicationEmerging Science Journal2610-91822019-06-013314615610.28991/esj-2019-0117783Position Control of a Flexible Joint via Explicit Model Predictive Control: An Experimental ImplementationMassoud Hemmasian Ettefagh0Mahyar Naraghi1Farzad Towhidkhah2Department of Mechanical Engineering, Amirkabir University of Technology, Tehran,Department of Mechanical Engineering, Amirkabir University of Technology, Tehran,Department of Biomedical Engineering, Amirkabir University of Technology, Tehran,This paper experimentally controls a flexible joint via explicit model predictive control (Explicit MPC) method. The scheme divides the state space into different partitions, then solves the associated multi parametric optimization in off-line computations. The result stores in a look-up table to be used in on-line algorithm. First, the state space equations of the flexible joint are derived and linearized around the working point. Then, in order to meet the plant’s specifications, desired performance and the limitation of processor/memory, the constraints, weights, sampling time and prediction horizon are determined for the system. Finally, the algorithm is applied on the experimental plant. Numerous simulations, the result of the experiment and comparison with other methods confirmed that the method was able to control the vibrations of the constrained flexible joint.https://ijournalse.org/index.php/ESJ/article/view/174Flexible JointExplicit Model Predictive ControlMulti-Parametric OptimizationDiscrete Linear Time Invariant System. |
| spellingShingle | Massoud Hemmasian Ettefagh Mahyar Naraghi Farzad Towhidkhah Position Control of a Flexible Joint via Explicit Model Predictive Control: An Experimental Implementation Emerging Science Journal Flexible Joint Explicit Model Predictive Control Multi-Parametric Optimization Discrete Linear Time Invariant System. |
| title | Position Control of a Flexible Joint via Explicit Model Predictive Control: An Experimental Implementation |
| title_full | Position Control of a Flexible Joint via Explicit Model Predictive Control: An Experimental Implementation |
| title_fullStr | Position Control of a Flexible Joint via Explicit Model Predictive Control: An Experimental Implementation |
| title_full_unstemmed | Position Control of a Flexible Joint via Explicit Model Predictive Control: An Experimental Implementation |
| title_short | Position Control of a Flexible Joint via Explicit Model Predictive Control: An Experimental Implementation |
| title_sort | position control of a flexible joint via explicit model predictive control an experimental implementation |
| topic | Flexible Joint Explicit Model Predictive Control Multi-Parametric Optimization Discrete Linear Time Invariant System. |
| url | https://ijournalse.org/index.php/ESJ/article/view/174 |
| work_keys_str_mv | AT massoudhemmasianettefagh positioncontrolofaflexiblejointviaexplicitmodelpredictivecontrolanexperimentalimplementation AT mahyarnaraghi positioncontrolofaflexiblejointviaexplicitmodelpredictivecontrolanexperimentalimplementation AT farzadtowhidkhah positioncontrolofaflexiblejointviaexplicitmodelpredictivecontrolanexperimentalimplementation |