TY  - CHAP
U1  - Konferenzveröffentlichung
A1  - Katliar, Mikhail
A1  - Frison, Gianluca
A1  - Fischer, Jörg
T1  - Nonlinear Model Predictive Control of a Cable-Robot-Based Motion Simulator
T2  - IFAC-PapersOnLine
N2  - In this paper we present the implementation of a model-predictive controller (MPC) for real-time control of a cable-robot-based motion simulator. The controller computes control inputs such that a desired acceleration and angular velocity at a defined point in simulator’s cabin are tracked while satisfying constraints imposed by working space and allowed cable forces of the robot. In order to fully use the simulator capabilities, we propose an approach that includes the motion platform actuation in the MPC model. The tracking performance and computation time of the algorithm are investigated in computer simulations. Furthermore, for motion simulation scenarios where the reference trajectories are not known beforehand, we derive an estimate on how much motion simulation fidelity can maximally be improved by any reference prediction scheme compared to the case when no prediction scheme is applied.
Y1  - 2017
SN  - 1474-6670
SS  - 1474-6670
U6  - https://doi.org/10.1016/j.ifacol.2017.08.901
DO  - https://doi.org/10.1016/j.ifacol.2017.08.901
VL  - 50
IS  - 1
SP  - 9833
EP  - 9839
PB  - Elsevier
CY  - Amsterdam
ER  -