A model predictive control-based motion cueing algorithm with consideration of joints' limitations for hexapod motion platform
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conference contribution
posted on 2024-06-04, 07:09 authored by MRC Qazani, H Asadi, S Nahavandi© 2019 IEEE. The regeneration of the motion signals of a real vehicle is not physically possible because of the workspace limitations of the platforms. The motion cueing algorithms (MCAs) are in charge of reproduction of the motion sensation for the drivers of simulation platforms as realistic as possible to the real vehicles. The model predictive control-based motion cueing algorithms (MPC-based MCAs) are recently used to find the optimal value of the input signals with consideration of the linear constraints of the platform in the Cartesian coordinate system of the mechanism. A new time-varying MPC-based MCA is introduced for the first time in this research by considering the joints' limitations of the mechanism inside the MPC model for longitudinal channel. The proposed model can consider the physical limitation of the active joints instead of substituting the limitation in the Cartesian coordinate system. The validation of the proposed model is performed using MATLAB software and the results prove that the proposed time-varying MPC-based MCA leads better motion sensation compared with the existing MPC-based MCA.
History
Volume
2019-OctoberPagination
708-713Location
Bari, ItalyPublisher DOI
Start date
2019-10-06End date
2019-10-09ISSN
1062-922XISBN-13
9781728145693Language
engPublication classification
E1 Full written paper - refereedTitle of proceedings
SMC 2019 : Proceeding of the 2019 IEEE International Conference on Systems, Man and CyberneticsEvent
Systems, Man and Cybernetics. Conference (2019 : Bari, Italy)Publisher
IEEEPlace of publication
Piscataway, N.J.Series
IEEE International Conference on Systems Man and Cybernetics Conference ProceedingsUsage metrics
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