Enhancing the robustness of the EPSAC predictive control using a Singular Value Decomposition approach
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- 作者：Juan A. Castanoa ; Juan.Castano@iit.it" class="auth_mail" title="E-mail the corresponding authorAuthor Vitae ; Andres Hernandezb ; Andres.Hernandez@UGent.be" class="auth_mail" title="E-mail the corresponding authorAuthor Vitae ; Zhibin LiaAuthor Vitae ; Nikos G. TsagarakisaAuthor Vitae ; Darwin G. CaldwellaAuthor Vitae ; Robin De KeyserbAuthor Vitae
- 关键词：Model Predictive Control ; Singular Values Decomposition ; Biped locomotion
- 刊名：Robotics and Autonomous Systems
- 出版年：2015
- 出版时间：December 2015
- 年：2015
- 卷：74
- 期：part_PA
- 页码：283-295
- 全文大小：3435 K
文摘
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A robust extension for MPC controllers using SVD is proposed.
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Stability and performance analysis are presented on a mass–spring–damper system.
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Closed loop characteristics are compared with the nominal implementation.
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Results show the advantages of the proposed method to enhance the robustness.
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Simulation of a Dynamic Walking of the Humanoid Robot COMAN is presented.