Model Predictive Control of a Ball and Plate laboratory model

Author

Oravec, Matej ; Jadlovska, Anna

Author_Institution

Dept. of Cybern. & Artificial Intell., Tech. Univ. in Kosice, Kosice, Slovakia

fYear

2015

fDate

22-24 Jan. 2015

Firstpage

165

Lastpage

170

Abstract

The papers presents an implementation of the predictive state space control algorithm, called Model Predictive Control (MPC). This control algorithm is verified on the Ball and Plate laboratory model, called B&P_KYB, for the reference trajectory tracking. The control algorithm is first verified using the derived nonlinear simulation model in Matlab/Simulink. Since simulation results are acceptable, an experiment is realized on the real laboratory model. The results of the experiment are demonstrated as the time response of the ball position and the voltage.

Keywords

control engineering computing; nonlinear dynamical systems; predictive control; trajectory control; B&P_KYB; MPC; Matlab; Simulink; ball and plate laboratory model; ball position; model predictive control; nonlinear simulation model; reference trajectory tracking; voltage; Algorithm design and analysis; Heuristic algorithms; Laboratories; Mathematical model; Prediction algorithms; Predictive control; Predictive models; Ball and Plate; MPC; mechatronic system; model predictive control;

fLanguage

English

Publisher

ieee

Conference_Titel

Applied Machine Intelligence and Informatics (SAMI), 2015 IEEE 13th International Symposium on

Conference_Location

Herl´any

Type

conf

DOI

10.1109/SAMI.2015.7061869

Filename

7061869