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《China Mechanical Engineering》 2005-01
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Inhomogeneous Model Based Adaptive Predictive Control of Double-triangle Boom

Li Lizheng He Qinghua Central South University, Changsha, 410083  
For the control of nonlinear systems similar to double-triangle boom and in order to overcome the shortages of closed-loop prediction, an inhomogeneous incremental time-varying linear model was put forward, the existence theorem of the model was given and demonstrated. Then an adaptive predictive control algorithm based on the model is deduced and practically applied to the directly positioning control of double-triangle boom. Excellent characteristics of trajectory tracking of double-triangle boom is acquired. The algorithm is simpler than traditional GPC and easier realize. The application effectness confirms the feasibility and the efficiency.
【Fund】: 国家863高技术研究发展计划资助项目(863-512-9806-01)
【CateGory Index】: TP273.5
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