A Model Predictive Cloud-based Control Scheme for Trajectory-Tracking: Effects of Round-trip Time Over-estimates

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2018

Autores

Andrea Alessandretti (Autor) Outra; António Pedro Aguiar (Autor) FEUP

Ata de Conferência Internacional

Título: 2018 13TH APCA INTERNATIONAL CONFERENCE ON CONTROL AND SOFT COMPUTING (CONTROLO)

Páginas: 183-188

13th APCA International Conference on Control and Soft Computing (CONTROLO)

Univ Azores, Ponta Delgada, PORTUGAL, JUN 04-06, 2018

Indexação

ISI Web of Knowledge - 0 Citações

Scopus - 0 Citações

INSPEC

Outras Informações

ID Authenticus: P-00P-YAK

DOI: 10.1109/controlo.2018.8516416

Abstract (EN): This paper addresses the design and implementation of a Model Predictive Control (MPC) scheme for trajectory tracking on a robotic vehicle with limited onboard computation power by exploiting an external web-server to solve the related MPC optimization problem. Specifically, an MPC controller that globally asymptotically stabilizes the origin of a suitable tracking error is designed, deployed in a web-server, and utilized in a web-server-in-the-loop fashion. The optimal state and input predictions computed by the web-server are fused in the onboard unit using smart buffers to obtain the control signal to apply to the vehicle. Numerical simulations show the robustness of the proposed scheme to additive disturbances in the state equation of the vehicle model and highlight the effect of the selection of the round-trip time guess that is utilized in the implementation of the web-server-in-the-loop strategy, in the closed-loop tracking performance.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 6