CONCLUSIONSWANG, Y. & BOYD, S. (2010). FAST MODEL PREDICTIVE CO...

6. ConclusionsWang, Y. & Boyd, S. (2010). Fast model predictive control using online optimization,IEEETransactions on control systems technology18(2): 267–278.In this paper, a gain-scheduled fast model predictive control strategy for high-speed rack feed-Weidemann, D., Scherm, N. & Heimann, B. (2004). Discrete-time control by nonlinear onlineers is presented. The control design is based on a control-oriented elastic multibody system.optimization on multiple shrinking horizons for underactuated manipulators,Pro-The suggested control algorithm aims at reducing the future tracking error at the end of theceedings of the 15th CISM-IFToMM Symposium on Robot Design, Dynamics and Control,prediction horizon. Beneath an active oscillation damping of the first bending mode, an accu-Montreal.rate trajectory tracking for the cage position inx- andy-direction is achieved. Experimentalresults from a prototypic test set-up point out the benefits of the proposed control structure.Experimental results show maximum tracking errors of approx. 6 mm in transient phases,whereas the steady-state tracking error is approx. 0.2 mm. Future work will address an activeoscillation damping of higher bending modes as well as an additional gain-scheduling withrespect to the varying payload.