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  Nonlinear Model Predictive Control of a Cable-Robot-Based Motion Simulator

Katliar, M., Fischer, J., Frison, G., Diehl, M., Teufel, H., & Bülthoff, H. (2017). Nonlinear Model Predictive Control of a Cable-Robot-Based Motion Simulator. IFAC-PapersOnLine, 50(1), 9833-9839.

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Item Permalink: http://hdl.handle.net/21.11116/0000-0000-C3A9-5 Version Permalink: http://hdl.handle.net/21.11116/0000-0003-8A82-E
Genre: Conference Paper

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 Creators:
Katliar, M1, 2, 3, Author              
Fischer, J, Author
Frison, G, Author
Diehl, M, Author
Teufel, H1, 2, 3, 4, Author              
Bülthoff, HH2, 3, 4, Author              
Affiliations:
1Project group: Motion Perception & Simulation, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_2528705              
2Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497794              
3Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              
4Project group: Cybernetics Approach to Perception & Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_2528701              

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 Abstract: In this paper we present the implementation of a model-predictive controller (MPC) for real-time control of a cable-robot-based motion simulator. The controller computes control inputs such that a desired acceleration and angular velocity at a defined point in simulator’s cabin are tracked while satisfying constraints imposed by working space and allowed cable forces of the robot. In order to fully use the simulator capabilities, we propose an approach that includes the motion platform actuation in the MPC model. The tracking performance and computation time of the algorithm are investigated in computer simulations. Furthermore, for motion simulation scenarios where the reference trajectories are not known beforehand, we derive an estimate on how much motion simulation fidelity can maximally be improved by any reference prediction scheme compared to the case when no prediction scheme is applied.

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 Dates: 2017-07
 Publication Status: Published in print
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 Rev. Method: -
 Identifiers: DOI: 10.1016/j.ifacol.2017.08.901
BibTex Citekey: KatliarFFDTB2017
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Title: 20th World Congress of the International Federation of Automatic Control (IFAC World 2017)
Place of Event: Toulouse, France
Start-/End Date: 2017-07-09 - 2017-07-14

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Title: IFAC-PapersOnLine
Source Genre: Journal
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Publ. Info: Frankfurt a.M., Germany : Elsevier
Pages: - Volume / Issue: 50 (1) Sequence Number: - Start / End Page: 9833 - 9839 Identifier: -