Frequency domain tuning method for unconstrained linear output feedback model predictive control

J.G. Burgos; C. Lopez Martinez; M.J.G. van de Molengraft; M. Steinbuch

Frequency domain tuning method for unconstrained linear output feedback model predictive control

J.G. Burgos, C. Lopez Martinez, M.J.G. van de Molengraft, M. Steinbuch

Control Systems Technology

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/Congresprocedure › Conferentiebijdrage › Academic › peer review

2 Citaten (Scopus)

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This paper provides a novel solution to the problem of tuning linear output feedback model predictive control (MPC). A systematic tuning method that allows to obtain all the parameters of an unconstrained output feedback MPC based on disturbance model and observer is presented. It is shown that such tuning can be translated to a frequency domain control design problem, which can be solved using existing techniques. Experimental results on a quadrotor reference tracking problem show the effectiveness of the proposed MPC tuning method.

Originele taal-2	Engels
Titel	19th IFAC World Congress 2014, 24-29 August 2014, Cape Town, South Africa
Plaats van productie	s.l.
Uitgeverij	IFAC
Pagina's	7455-7460
Aantal pagina's	6
ISBN van elektronische versie	9783902823625
Status	Gepubliceerd - 2014
Evenement	19th World Congress of the International Federation of Automatic Control (IFAC 2014 World Congress) - Cape Town International Convention Centre, Cape Town, Zuid-Afrika Duur: 24 aug. 2014 → 29 aug. 2014 Congresnummer: 19 http://www.ifac2014.org

Congres

Congres	19th World Congress of the International Federation of Automatic Control (IFAC 2014 World Congress)
Verkorte titel	IFAC 2014
Land/Regio	Zuid-Afrika
Stad	Cape Town
Periode	24/08/14 → 29/08/14
Ander	The 19th World Congress of the International Federation of Automatic Control
Internet adres	http://www.ifac2014.org

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@inproceedings{a49974cb6e3c41b79d7831783463db19,

title = "Frequency domain tuning method for unconstrained linear output feedback model predictive control",

abstract = "This paper provides a novel solution to the problem of tuning linear output feedback model predictive control (MPC). A systematic tuning method that allows to obtain all the parameters of an unconstrained output feedback MPC based on disturbance model and observer is presented. It is shown that such tuning can be translated to a frequency domain control design problem, which can be solved using existing techniques. Experimental results on a quadrotor reference tracking problem show the effectiveness of the proposed MPC tuning method.",

keywords = "Disturbance model, MPC, Observers, Output feedback",

author = "J.G. Burgos and {Lopez Martinez}, C. and {van de Molengraft}, M.J.G. and M. Steinbuch",

year = "2014",

language = "English",

pages = "7455--7460",

booktitle = "19th IFAC World Congress 2014, 24-29 August 2014, Cape Town, South Africa",

publisher = "IFAC",

note = "19th World Congress of the International Federation of Automatic Control (IFAC 2014 World Congress), IFAC 2014 ; Conference date: 24-08-2014 Through 29-08-2014",

url = "http://www.ifac2014.org",

}

Burgos, JG, Lopez Martinez, C , van de Molengraft, MJG & Steinbuch, M 2014, Frequency domain tuning method for unconstrained linear output feedback model predictive control. in 19th IFAC World Congress 2014, 24-29 August 2014, Cape Town, South Africa. IFAC, s.l., blz. 7455-7460, 19th World Congress of the International Federation of Automatic Control (IFAC 2014 World Congress), Cape Town, Zuid-Afrika, 24/08/14.

Frequency domain tuning method for unconstrained linear output feedback model predictive control. / Burgos, J.G.; Lopez Martinez, C.; van de Molengraft, M.J.G. et al.
19th IFAC World Congress 2014, 24-29 August 2014, Cape Town, South Africa. s.l.: IFAC, 2014. blz. 7455-7460.

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/Congresprocedure › Conferentiebijdrage › Academic › peer review

TY - GEN

T1 - Frequency domain tuning method for unconstrained linear output feedback model predictive control

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AU - Lopez Martinez, C.

AU - van de Molengraft, M.J.G.

AU - Steinbuch, M.

N1 - Conference code: 19

PY - 2014

Y1 - 2014

N2 - This paper provides a novel solution to the problem of tuning linear output feedback model predictive control (MPC). A systematic tuning method that allows to obtain all the parameters of an unconstrained output feedback MPC based on disturbance model and observer is presented. It is shown that such tuning can be translated to a frequency domain control design problem, which can be solved using existing techniques. Experimental results on a quadrotor reference tracking problem show the effectiveness of the proposed MPC tuning method.

AB - This paper provides a novel solution to the problem of tuning linear output feedback model predictive control (MPC). A systematic tuning method that allows to obtain all the parameters of an unconstrained output feedback MPC based on disturbance model and observer is presented. It is shown that such tuning can be translated to a frequency domain control design problem, which can be solved using existing techniques. Experimental results on a quadrotor reference tracking problem show the effectiveness of the proposed MPC tuning method.

KW - Disturbance model

KW - MPC

KW - Observers

KW - Output feedback

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M3 - Conference contribution

AN - SCOPUS:84929783003

SP - 7455

EP - 7460

BT - 19th IFAC World Congress 2014, 24-29 August 2014, Cape Town, South Africa

PB - IFAC

CY - s.l.

T2 - 19th World Congress of the International Federation of Automatic Control (IFAC 2014 World Congress)

Y2 - 24 August 2014 through 29 August 2014

ER -

Frequency domain tuning method for unconstrained linear output feedback model predictive control

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