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Nonlinear Model Predictive Control of a Cable-Robot-Based Motion Simulator

  • 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 desired acceleration and rotational velocity at a de� ned point in simulator's cabin are tracked while satisfying constraints due to working space and allowed cable forces of the robot. The trackingIn 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 desired acceleration and rotational velocity at a de� ned point in simulator's cabin are tracked while satisfying constraints due to working space and allowed cable forces of the robot. 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 � delity can maximally be improved by any reference prediction scheme compared to the case when no prediction scheme is applied.show moreshow less

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Metadaten
Author:Mikhail Katliar, Gianluca Frison, Jörg Fischer
Contributing Corporation:International Federation of Automatic Control (IFAC)
Publisher:Elsevier
Place of publication:Amsterdam
Year of Publication:2017
Pagenumber:7
Language:English
Parent Title (German):IFAC-PapersOnLine. 20th IFAC World Congress
Volume:50
Issue:1
ISSN:1474-6670
First Page:9833
Last Page:9839
Document Type:Conference Proceeding
Release Date:2018/01/19
Licence (German):License LogoEs gilt das UrhG
DOI:https://doi.org/10.1016/j.ifacol.2017.08.901