Underactuated Mechanical Systems With Both Actuator and Actuated/Unactuated State Constraints: A Predictive Control-Based Approach

• Published in: IEEE/ASME transactions on mechatronics Vol. 28; no. 3; pp. 1359 - 1371
• Main Authors: Zhai, Meng, Sun, Ning, Yang, Tong, Fang, Yongchun
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.06.2023; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Actuators; Algorithms; Constraints control; Cranes; Cranes & hoists; IEEE transactions; Mechanical systems; Mechatronics; model predictive control (MPC); Predictive control; Predictive models; Tower cranes; Transient analysis; Transient performance; underactuated systems
• ISSN: 1083-4435; 1941-014X
• DOI: 10.1109/TMECH.2022.3230244

Underactuated systems are widely used in practice. Due to actuator saturation and transient performance requirements, it is necessary to keep the control inputs and system states within safe limits. However, with fewer control inputs, the state constraints, especially for unactuated states, are usua...