Abstract
This paper presents a novel approach to linearize the input-output (IO) response of nonlinear mechanical systems by using model predictive control (MPC) with integral action and solving a one-step-ahead reference tracking problem. The discrete-time MPC controller, which builds on a nonlinear data-driven state-space model, controls a continuous-time plant. State estimation is performed by means of the unscented Kalman filter (UKF). The overall effectiveness of this MPC-based approach is validated in the time and frequency domains by conducting simulations on a mechanical system with output nonlinearities of polynomial type.
The obtained results show that the proposed method is superior in terms of performance and robustness when compared to the classical feedback linearization techniques based on Lie algebra.
The obtained results show that the proposed method is superior in terms of performance and robustness when compared to the classical feedback linearization techniques based on Lie algebra.
Original language | English |
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Title of host publication | Proceedings of ISMA 2020 - International Conference on Noise and Vibration Engineering and USD 2020 - International Conference on Uncertainty in Structural Dynamics |
Editors | W. Desmet, B. Pluymers, D. Moens, S. Vandemaele |
Publisher | Katholieke Universiteit Leuven |
Pages | 2117-2124 |
Number of pages | 8 |
ISBN (Electronic) | 9789082893113 |
Publication status | Published - Sep 2020 |
Event | 29th International Conference on Noise and Vibration Engineering, ISMA 2020 and 8th International Conference on Uncertainty in Structural Dynamics, USD 2020 - Leuven, Belgium Duration: 7 Sep 2020 → 9 Sep 2020 |
Conference
Conference | 29th International Conference on Noise and Vibration Engineering, ISMA 2020 and 8th International Conference on Uncertainty in Structural Dynamics, USD 2020 |
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Abbreviated title | ISMA 2020 |
Country/Territory | Belgium |
City | Leuven |
Period | 7/09/20 → 9/09/20 |