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Title: A Model Predictive Control Approach for Time Optimal Point-to-point Motion Control
Authors: Van den Broeck, Lieboud ×
Diehl, Moritz
Swevers, Jan #
Issue Date: Oct-2011
Publisher: Pergamon Press
Series Title: Mechatronics vol:21 issue:7 pages:1203-1212
Abstract: This paper presents a new model predictive control method for time-optimal point-to-point motion control of mechatronic systems. The formulation of time-optimal behavior within the model predictive control framework and the structure of the underlying optimization problem are discussed and modifications are presented in order to decrease the computational load of the numerical solution method such that sampling rates in the millisecond range and long prediction horizons for large point-to-point motions are feasible. An extensive experimental validation on a linear motor drive and an overhead crane setup demonstrates the advantages of the developed time-optimal model predictive control approach in comparison with traditional model predictive control. (C) 2011 Elsevier Ltd. All rights reserved.
ISSN: 0957-4158
Publication status: published
KU Leuven publication type: IT
Appears in Collections:Production Engineering, Machine Design and Automation (PMA) Section
ESAT - STADIUS, Stadius Centre for Dynamical Systems, Signal Processing and Data Analytics
× corresponding author
# (joint) last author

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