Model predictive control applied into time delay capsubot system

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Authors: Chen, W., Fang, M. and Yu, H.

Journal: 2009 International Conference on Intelligent Human-Machine Systems and Cybernetics, IHMSC 2009

Volume: 1

Pages: 112-115

ISBN: 9780769537528

DOI: 10.1109/IHMSC.2009.36

In this paper, a model predictive controller for time delay capsubot system is presented. Linearized dynamics is used to predictive future system behavior and a control law is derived from a quadratic cost function penalizing the system tracking error and the control effort. It is noted that model predictive control has advantages over state feedback law because of consideration of constraints on inputs or state vectors. Examples are given to illustrate the effectiveness of the approach. Some ideas for future work are also discussed. © 2009 IEEE.

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