Ústav teorie informace a automatizace

Jste zde


Monography Chapter

Output-Feedback Model Predictive Control Using Set of State Estimates

Kuklišová Pavelková Lenka, Belda Květoslav

: Informatics in Control, Automation and Robotics. ICINCO 2021 : Revised Selected Papers, p. 151-162 , Eds: Gusikhin O., Madani K., Nijmeijer H.

: output-feedback control, model predictive control, state estimation, Bayesian methods, robotic system, bounded disturbances

: 10.1007/978-3-031-26474-0_8

: http://library.utia.cas.cz/separaty/2023/AS/kuklisova-0569998.pdf

(eng): The paper deals with an algorithm of output-feedback model predictive control (MPC) where the required point state estimate is selected from the set of possible estimates. The involved state estimator is based on an approximate uniform Bayesian filter. In the paper, there are compared conservative mean and progressive composite state estimates. The proposed method is illustrated by the motion control of a specific robotic system.

: BC

: 10201

07.01.2019 - 08:39