Sökning: "offset-free MPC"

Hittade 2 uppsatser innehållade orden offset-free MPC.

1. 1. Real time control of an active pendulum arm suspension system for a downscaled XT28 forwarder model

   Master-uppsats, KTH/Skolan för industriell teknik och management (ITM)

   Författare :Niclas Määttä; Adam Westermark; [2023]
   Nyckelord :mechatronics; offset-free MPC; MPC; LQR; XT28; forwarder; pendulum arm; forestry; mekatronik; offset-free MPC; MPC; LQR; XT28; skotare; pendelarm; skogsbruk;

   Sammanfattning : A forwarder named XT28 has been developed in joint collaboration between eXtractor AB, Skogforsk AB, KTH, Linköpings Unversity, Sveaskog, and Bosch Rexroth. The forwarder is equipped with six hydraulic active suspension pendulum arms. LÄS MER

3. 2. Dynamic Modelling and Optimal Control of Autonomous Heavy-duty Vehicles

   Master-uppsats, KTH/Skolan för elektroteknik och datavetenskap (EECS)

   Författare :Kartik Seshadri Chari; [2020]
   Nyckelord :Autonomous driving; Dynamic bicycle model; Magic Formula; Model matching; MPC; Clothoids; Autonom körning; Fordonsmodell; Modellanpassning; MPC; Klothoider;

   Sammanfattning : Autonomous vehicles have gained much importance over the last decade owing to their promising capabilities like improvement in overall traffic flow, reduction in pollution and elimination of human errors. However, when it comes to long-distance transportation or working in complex isolated environments like mines, various factors such as safety, fuel efficiency, transportation cost, robustness, and accuracy become very critical. LÄS MER