Model predictive Control: a passive scheme

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Title: Model predictive Control: a passive scheme
Authors: Falugi, P
Item Type: Conference Paper
Abstract: © IFAC.This note studies the formulation of model predictive control exploiting passivity properties. The introduction of passive constraints in model predictive control schemes is particularly appealing since robustness against model uncertainty is inherently guaranteed. The potential of the discussed control scheme is shown on the regulation problem of a robot manipulator.
Issue Date: 24-Aug-2014
Date of Acceptance: 14-Feb-2014
URI: http://hdl.handle.net/10044/1/26163
DOI: https://dx.doi.org/10.3182/20140824-6-ZA-1003.02165
Publisher: International Federation of Automatic Control
Start Page: 1017
End Page: 1022
Journal / Book Title: Proceedings of 19th IFAC World Congress
Volume: 19
Copyright Statement: © 2014 IFAC
Conference Name: 19th IFAC World Congress
Publication Status: Published
Start Date: 2014-08-24
Finish Date: 2014-08-29
Conference Place: Cape Town, South Africa
Appears in Collections:Faculty of Engineering
Electrical and Electronic Engineering



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