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Efficient solution of nonlinear model predictive control by a restricted enumeration method
(Universidad UTE, 2018)
Robust Cascade Controller for Nonlinearly Actuated Biped Robots: Experimental Evaluation
(2004-06-26)
In this paper we consider the postural stability problem for nonlinearly actuated quasi-static biped robots, both with respect to the joint angular positions and also with reference to the gripping effect between the ...
Use of state estimation for inferential nonlinear MPC: a case study
(Elsevier Science Sa, 2005-01-28)
Model predictive control (MPC) has become very popular in process industry and academia because it is an optimizing control technique which can handle hard constraints as well as time delays and mild nonlinearities. Linear ...
A high gain nonlinear observer: Application to the control of an unstable nonlinear process
(Pergamon-Elsevier Science Ltd, 2004-08)
State estimation has become an important area of research in the field of process engineering. This is because there are many applications that demand the knowledge of many of the state variables, if not all of them. Among ...
Numerical stability analysis and control of umbilical-ROV systems in one-degree-of-freedom taut-slack condition
(Springer, 2007-07)
In this paper, the stability of an umbilical-ROV system under nonlinear oscillations in heave motion is analyzed using numerical methods for the uncontrolled and controlled cases comparatively. Mainly the appearance of the ...
Use of CPWL approximations in the design of a numerical nonlinear regulator
(Institute of Electrical and Electronics Engineers, 2000-06)
This paper presents the state regulation problem for nonlinear plants with initial conditions in a given bounded region, proposed originally by Kreisselmeier and Birkholzer (1994). An efficient computer implementable ...
An Adaptive Nonlinear Controller for DFIM-Based Wind Energy Conversion Systems
(Institute of Electrical and Electronics Engineers, 2008-12)
An adaptive nonlinear controller for wind energy doubly fed induction machines is introduced in this paper. The proposed controller is based on the feedback linearization technique and includes a disturbance observer for ...
Tube-based MPC with Nonlinear Control for Load Transportation using a UAV
(Elsevier B.V., 2018-01)
This paper presents a two-stage cascade control framework to solve hierarchically the trajectory tracking problem of a Tilt-rotor Unmanned Aerial Vehicle (UAV) carrying a suspended load. Initially, a nonlinear dynamic model ...
Use of piecewise linear models for optimal control of nonlinear systems
(Institute of Advanced Scientific Research, 2009-12)
The optimal feedback control of nonlinear process is attacked in this paper. The solution of this problem is numerically computed using a Continuous Piecewise Linear (CPWL) approximation of the Ordinary Differential Equations ...