This paper presents a two-stage robust model predictive control (RMPC) algorithm named as IRMPC for uncertain linear integrating plants described by a state-space model with input constraints. The global convergence o...This paper presents a two-stage robust model predictive control (RMPC) algorithm named as IRMPC for uncertain linear integrating plants described by a state-space model with input constraints. The global convergence of the resulted closed loop system is guaranteed under mild assumption. The simulation example shows its validity and better performance than conventional Min-Max RMPC strategies.展开更多
A system for a type of nonholonomic wheeled mobile robots equipped with an uncalibrated camera fixed to the ceiling is investigated.Based on the visual feedback and the state-input transformation,models of uncertain c...A system for a type of nonholonomic wheeled mobile robots equipped with an uncalibrated camera fixed to the ceiling is investigated.Based on the visual feedback and the state-input transformation,models of uncertain chained form systems are presented for the robot-camera systems.Then,new smooth time-varying feedback controllers are proposed to exponentially stabilize the uncertain chained system by using state-scaling and control theories for two cases.The exponential stabilities of the closed-loop uncertain systems are rigorously proved.Simulation results demonstrate the effectiveness of the proposed strategies.展开更多
文摘This paper presents a two-stage robust model predictive control (RMPC) algorithm named as IRMPC for uncertain linear integrating plants described by a state-space model with input constraints. The global convergence of the resulted closed loop system is guaranteed under mild assumption. The simulation example shows its validity and better performance than conventional Min-Max RMPC strategies.
基金supported by the National Natural Science Foundation of China under Grant Nos.61374040,61304004 and 61473179the Natural Science Foundation of Shandong Province under Grant Nos.ZR2013FM012 and ZR2014FM007
文摘A system for a type of nonholonomic wheeled mobile robots equipped with an uncalibrated camera fixed to the ceiling is investigated.Based on the visual feedback and the state-input transformation,models of uncertain chained form systems are presented for the robot-camera systems.Then,new smooth time-varying feedback controllers are proposed to exponentially stabilize the uncertain chained system by using state-scaling and control theories for two cases.The exponential stabilities of the closed-loop uncertain systems are rigorously proved.Simulation results demonstrate the effectiveness of the proposed strategies.
