Paper Title:
Moving Horizon Model Inversion for Nonlinear ILC
  Abstract

A new moving horizon model inversion method based on numerical optimization is presented to calculate the system input for a given system model and system output. It uses the moving horizon idea from Model Predictive Control (MPC) by using a moving and fixed-size window to inverse the data points in the current window using the initial states information (for the first window) or the last updated control point’s states information in the previous window. The approach can handle both linear and nonlinear systems, and also the sudden changes in system dynamics. Another advantage of this approach is its high computational efficiency when you have a long data record. The model inversion approach can be used in iterative learning control to refine the input to make the response of the system match the reference trajectory as close as possible.

  Info
Periodical
Key Engineering Materials (Volumes 460-461)
Edited by
Yanwen Wu
Pages
184-189
DOI
10.4028/www.scientific.net/KEM.460-461.184
Citation
G. Xu, M. Volckaert, J. Swevers, H. Zhou, "Moving Horizon Model Inversion for Nonlinear ILC", Key Engineering Materials, Vols. 460-461, pp. 184-189, 2011
Online since
January 2011
Export
Price
$32.00
Share

In order to see related information, you need to Login.

In order to see related information, you need to Login.

Authors: Xiao Yi Che, Qi Yuan Liu, You Xin Luo, Bin Zeng
Abstract:Kinematic analysis is fundamental for the mechanism synthesis. The kinematic analysis of mechanism is attributed to find the solutions of the...
688
Authors: Heng Li, Jin Yong Yu, You An Zhang
Chapter 1: Applied Mechanics Mechanical Engineering
Abstract:With respect to aircraft with redundant multiple control effectors, a nonlinear controller, which is composed of a virtual control law and a...
404
Authors: Jian Feng Wang, Chuan Xue Song, Zhong Xiang Lei
Chapter 3: Mechanics Engineering and Applied Mechanics
Abstract:This paper expounds the automobile suspension structure based on the characteristics of three control strategy and its development, and...
843
Authors: Arash Bahar, Ali Chaibakhsh, Sajad Haqdadi
Chapter 7: Computer-Aided Design and Technology
Abstract:The Magneto-rheological (MR) dampers are favorite mechanical system in dynamic structures. This paper presents an application of Wiener-type...
2140
Authors: Yung Hsiang Chen, Tzuu Hseng S. Li, Yung Yue Chen
Chapter 7: Sensors, Mechatronics and Robotics
Abstract:An adaptive nonlinear trajectory tracking design for mobile robot and its practical implementation are presented in this paper. The design...
1744