The paper describes the design of a predictive controller using the ACADO toolkit (an open-source framework for automatic control and dynamic optimization) dedicated for a real-time run on dSpace hardware. The newly programmed toolkit offers a controller build-up with a user friendly and intuitive C++ coding environment, computational inexpensiveness and real-time operation. Velocity control of a personal car has been chosen as a case study. The paper presents the necessary steps of a controller build-up, including its coding and simulation.


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    Titel :

    Design of a MPC controller running on dSpace hardware using ACADO toolkit


    Beteiligte:
    Kopacka, Matus (Autor:in) / Saerens, Bart (Autor:in) / Ferreau, Hans Joachim (Autor:in) / Houska, Boris (Autor:in) / Diehl, Moritz (Autor:in) / Rohal-Ilkiv, Boris (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    2010


    Format / Umfang :

    8 Seiten, 3 Bilder, 1 Tabelle, 7 Quellen



    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Datenträger


    Sprache :

    Englisch