Shekhar, RC and Maciejowski, JM (2010) Surface excavation with model predictive control. Proceedings of the IEEE Conference on Decision and Control. pp. 5239-5244. ISSN 0191-2216Full text not available from this repository.
This paper describes the application of variable-horizon model predictive control to trajectory generation in surface excavation. A nonlinear dynamic model of a surface mining machine digging in oil sand is developed as a test platform. This model is then stabilised with an inner-loop controller before being linearised to generate a prediction model. The linear model is used to design a predictive controller for trajectory generation. A variable horizon formulation is augmented with extra terms in the cost function to allow more control over digging, whilst still preserving the guarantee of finite-time completion. Simulations show the generation of realistic trajectories, motivating new applications of variable horizon MPC for autonomy that go beyond the realm of vehicle path planning. ©2010 IEEE.
|Divisions:||Div F > Control|
|Depositing User:||Cron job|
|Date Deposited:||16 Jul 2015 13:49|
|Last Modified:||04 Oct 2015 03:49|