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

Mikhail Katliar, Jörg Fischer, Gianluca Frison, Moritz Diehl, Harald Teufel, Heinrich H. Bülthoff

Research output: Contribution to journalArticlepeer-review

24 Citations (Scopus)

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.

Original languageEnglish
Pages (from-to)9833-9839
Number of pages7
JournalIFAC-PapersOnLine
Volume50
Issue number1
DOIs
Publication statusPublished - 2017 Jul

Bibliographical note

Funding Information:
This research was supported by the EU via ERC-HIGHWIND (259 166), ITN-TEMPO (607 957), and ITN-AWESCO (642 682) and by DFG in context of the Research Unit FOR 2401.

Publisher Copyright:
© 2017

Keywords

  • cable robots
  • model predictive control
  • motion cueing
  • vehicle simulators

ASJC Scopus subject areas

  • Control and Systems Engineering

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