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Adaptivní prediktivní LQ řízení s omezením
Böhm, Josef
Controller design for real systems must consider levels of signals in the system. This contrasts with the most design techniques that are based on linearity assumption. The Model predictive control (MPC) is a technique able to consider desired levels of signals. Paper deals with the situation in LQ controller design. It is shown that the latest results in MPC control can be also considered as an LQ approach.
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Modelově orientované řízení pro paralelní kinematiky robotů
Belda, Květoslav ; Böhm, Josef ; Valášek, M.
The paper deals with the application of the model-based control approach within robotic system that includes the parallel structure and adequate drives. As an example, several prototypes of planar parallel redundant structures driven by DC motors are used. The suitable form of mathematical model, both mechanical and drive part, will be introduced and subsequently used for control design. The design is based on discrete predictive control, which can compete and surpass the classical feedback strategies.
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Studie prediktivních řídicích algoritmů pro paralení struktury robotů
Belda, Květoslav ; Böhm, Josef ; Valášek, M.
This paper focuses on several possible variants of discrete predictive algorithms for design of control actions applied to the parallel robot structures; i.e. absolute, incremental, incremental with nonlinear simulative prediction and predictive algorithm, used for the planning of quadratically-optimal trajectories. The control design is based on mathematical models describing the mechanical parallel robotic structures. All algorithms are illustrated by simulation in MATLAB - SIMULINK environment.
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