Output-feedback MPC for Robotic Systems under Bounded Noise

Lenka Kuklišová Pavelková; Květoslav Belda

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Paper

Output-feedback MPC for Robotic Systems under Bounded Noise

Topics: Adaptive Signal Processing and Control; Mechatronics Systems; Modeling, Simulation and Architecture

In Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics ICINCO - Volume 1, 574-582, 2021

Authors: Lenka Kuklišová Pavelková and Květoslav Belda

Affiliation: The Czech Academy of Sciences, Institute of Information Theory and Automation Pod Vodárenskou věží 4, 182 08 Prague 8, Czech Republic

Keyword(s): Model Predictive Control, Output-Feedback Control, Robot Manipulator, State Estimation, Bayes Methods, Bounded Uncertainty.

Abstract: The paper presents an output-feedback model predictive control applied to the motion control of a dynamic model of a parallel kinematic machine. The controlled system is described by a stochastic linear discrete-time model with bounded disturbances. An approximate uniform Bayesian filter provides set state estimates. The choice of the specific point estimate from this set is a part of the optimization. The cost function includes penalties on the tracking error and the actuation effort respecting increments. Illustrative examples show the effectiveness of the proposed approach and provide a comparison with previous results.

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Paper citation in several formats:

Kuklišová Pavelková, L. and Belda, K. (2021). Output-feedback MPC for Robotic Systems under Bounded Noise. In Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - ICINCO; ISBN 978-989-758-522-7; ISSN 2184-2809, SciTePress, pages 574-582. DOI: 10.5220/0010557705740582

@conference{icinco21,
author={Lenka {Kuklišová Pavelková}. and Květoslav Belda.},
title={Output-feedback MPC for Robotic Systems under Bounded Noise},
booktitle={Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - ICINCO},
year={2021},
pages={574-582},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010557705740582},
isbn={978-989-758-522-7},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - ICINCO
TI - Output-feedback MPC for Robotic Systems under Bounded Noise
SN - 978-989-758-522-7
IS - 2184-2809
AU - Kuklišová Pavelková, L.
AU - Belda, K.
PY - 2021
SP - 574
EP - 582
DO - 10.5220/0010557705740582
PB - SciTePress