model-based predictive control

The aircraft stabilizer stabilizes the aircraft utilizing non-fixed and controllable aerodynamic surfaces. This paper presents a model-based predictive control for F-8 fighter aircraft stabilization. In the proposed control method, meanwhile the real-time optimization, the cost-function is minimized by means of the linearized model of F-8 fighter and the output is predicted in future interval times based on the receding horizon strategy. The cost-function is defined as the aggregate of terminal cost and summation of stage costs, that the quadratic form of cost-function is utilized in control algorithm, eventually. The costfunction minimization is giving rise to stable control input. The extracted stable control input stabilized the states of the nonlinear F-8 fighter system under the various initial conditions. The considerations are taken into account in the controller designing steps, to reduce the computational load. Mathematical proof investigates that the closed-loop system with the proposed control has asymptotic stability. The simulation results well demonstrate the favorable efficiency of the proposed controller in F-8 fighter aircraft stabilization.

In this paper a controller has been presented based on the predictive control to drive and control the bipedal Nao robot. One of the challenges in the practical applying of these types of controllers is their high computational loading and the time-consuming control operations in each time step, in which it is suggested to use Laguerre Functions to reduce the computational loading of the predictive controller. In this study, at first using the conventional methods for the identification, and via the real data obtained from the Nao robot in Mechatronics research center of Qazvin Azad University, a proper model is proposed for walking the Nao robot which is considered as a two-dimensional motion in the plane. Then a controller will be designed to control the robot motion using the model based predictive controller. The purpose of this control approach in the first place is to stabilize the walking of the robot and then to guide and keep it on the desired trajectory, so that this trajectory tracking can be performed well as much as possible. Moreover, in order to evaluate the efficiency of the proposed controller, this controller has been compared with a proportional-integral-derivative controller and will be studied. The simulation results show the effectiveness of the proposed controller performance in the robot trajectory tracking, which finally comparing the obtained results from both of the control approaches, indicates the efficiency and different capabilities of the proposed method in this study.