Implementation and testing of a soft computing based model predictive control on an industrial controller

Larrea, Mikel; Larzabal, E.; Irigoyen, Eloy; Valera, Juan José; Dendaluce, Martin

doi:10.1016/j.jal.2014.11.005

Cited by 8 publications

(8 citation statements)

References 26 publications

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“…Estos sistemas han sido empleados anteriormente en otros trabajos relacionados con la identificación de modelos no lineales [7]. Para ofrecer una representación de las no linealidades de ambos sistemas, se presenta en la Figura 2 un conjunto de puntos de operación en régimen estacionario, mediante la relación entrada/salida, cuyos rangos abarcan dinámicas no lineales suficientemente significativas.…”

Section: Presentaci óN Del Problemaunclassified

Primeros resultados de la integración de modelos neuronales MIMO en la estrategia iMO-NMPC

Alonso¹,

Zabaljauregi²,

Irigoyen³

et al. 2022

XLIII Jornadas De Automática: Libro De Actas: 7, 8 Y 9 De Septiembre De 2022, Logroño (La Rioja)

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Este trabajo presenta un estudio preliminar donde se analizará y estudiará la eficiencia de las redes neuronales artificiales de topología NARX (Nonlinear Autoregressive eXogenous) en la reproducción del comportamiento de sistemas con dinámicas complejas y su posterior uso en estructuras de control inteligente. Específicamente se valorará el comportamiento de dichas redes NARX, no solo en la estimación de las salidas de los sistemas a una muestra en el futuro, sino que se analizará su comportamiento hasta un horizonte de predicción determinado. Concretamente, debido a las características dinámicas de los sistemas no lineales estudiados este estudio se hará para un horizonte de 10 muestras en configuración closed-loop. El objetivo de este estudio es analizar si existen divergencias en las salidas estimadas por la red NARX al depender su cálculo de los valores anteriores estimados por la propia red. Dichas estructuras NARX se configurarán para reproducir tanto sistemas monovariables, como multivariables. En especial, este estudio se extenderá al caso del control predictivo no lineal basado en modelos iMO-NMPC, el cual constituye una línea de trabajo dentro del grupo de investigación de control inteligente (GICI) de la UPV/EHU.

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Section: Presentaci óN Del Problemaunclassified

Primeros resultados de la integración de modelos neuronales MIMO en la estrategia iMO-NMPC

Alonso¹,

Zabaljauregi²,

Irigoyen³

et al. 2022

XLIII Jornadas De Automática: Libro De Actas: 7, 8 Y 9 De Septiembre De 2022, Logroño (La Rioja)

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“…These are found when the FOD at a certain point of the curve is equal to zero. In Figure 4, two S-curves were generated, and their curvatures analyzed using (10) and the FOD test. Figure 4a shows a smooth curve as there are no existing zero values of the FOD at any sampling points.…”

Section: Trajectory Generator For a High Curvature Pathmentioning

confidence: 99%

“…It also handles all communication and network-related functions. Conventional motion control systems consist of powerful main controllers based on industrial computers running proprietary software, which are very expensive and bulky in size [9,10]. These are mostly found in control systems for industrial and humanoid robots [11][12][13].…”

Section: Introductionmentioning

confidence: 99%

“…For a path with high curvature, calculate the position of the high curvature turning points using (10) and the velocity limits at the turning points using (11).…”

mentioning

confidence: 99%

“…MACV is decomposed to the joint space according to the kinematics of the omnidirectional mobile robot in (2). The linear and angular velocities are calculated in a series of computation using Equations (7)- (10). In the case of the turning points, the maximum velocity at each turning point is calculated using (11).…”

mentioning

confidence: 99%

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Network-Oriented Real-Time Embedded System Considering Synchronous Joint Space Motion for an Omnidirectional Mobile Robot

Delgado

Choi

2019

Electronics

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This paper proposes a real-time embedded system for joint space control of omnidirectional mobile robots. Actuators driving an omnidirectional mobile robot are connected in a line topology which requires synchronization to move simultaneously in translation and rotation. We employ EtherCAT, a real-time Ethernet network, to control servo controllers for the mobile robot. The first part of this study focuses on the design of a low-cost embedded system utilizing an open-source EtherCAT master. Although satisfying real-time constraints is critical, a desired trajectory on the center of the mobile robot should be decomposed into the joint space to drive the servo controllers. For the center of the robot, a convolution-based path planner and a corresponding joint space control algorithm are presented considering its physical limits. To avoid obstacles that introduce geometric constraints on the curved path, a trajectory generation algorithm considering high curvature turning points is adapted for an omnidirectional mobile robot. Tracking a high curvature path increases mathematical complexity, which requires precise synchronization between the actuators of the mobile robot. An improvement of the distributed clock—the synchronization mechanism of EtherCAT for slaves—is presented and applied to the joint controllers of the mobile robot. The local time of the EtherCAT master is dynamically adjusted according to the drift of the reference slave, which minimizes the synchronization error between each joint. Experiments are conducted on our own developed four-wheeled omnidirectional mobile robot. The experiment results confirm that the proposed system is very effective in real-time control applications for precise motion control of the robot even for tracking high curvature paths.

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Studying the Use of ANN to Estimate State-Space Variables for MIMO Systems in a NMPC Strategy

Alonso

Zabaljauregi

Larrea

et al. 2022

Lecture Notes in Networks and Systems

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Implementation and testing of a soft computing based model predictive control on an industrial controller

Cited by 8 publications

References 26 publications

Primeros resultados de la integración de modelos neuronales MIMO en la estrategia iMO-NMPC

Primeros resultados de la integración de modelos neuronales MIMO en la estrategia iMO-NMPC

Network-Oriented Real-Time Embedded System Considering Synchronous Joint Space Motion for an Omnidirectional Mobile Robot

Studying the Use of ANN to Estimate State-Space Variables for MIMO Systems in a NMPC Strategy

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