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Author: Květoslav Belda

Affiliation: Department of Adaptive Systems, The Czech Academy of Sciences, Institute of Information Theory and Automation, Pod Vodárenskou věží 4, 182 08 Prague 8 and Czech Republic

ISBN: 978-989-758-321-6

Keyword(s): Discrete Model Predictive Control, Nonlinear Design, Lagrange Equations, Articulated Robots.

Related Ontology Subjects/Areas/Topics: Industrial Automation and Robotics ; Industrial Engineering ; Informatics in Control, Automation and Robotics ; Modeling, Simulation and Architectures ; Robot Design, Development and Control ; Robotics and Automation ; Systems Modeling and Simulation

Abstract: This paper introduces a specific nonlinear design of the discrete model predictive control based on the features of linear methods used for the numerical solution of ordinary differential equations. The design is intended for motion control of robotic or mechatronic systems that are usually described by nonlinear differential equations up to the second order. For the control design, the explicit linear multi-step methods are considered. The proposed way enables the design to apply nonlinear model to the construction of equations of predictions used in predictive control. An example of behavior of proposed versus linear predictive control is demonstrated by a comparative simulation with nonlinear mathematical model of six-axis articulated robot.

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Paper citation in several formats:
Belda, K. (2018). Nonlinear Design of Model Predictive Control Adapted for Industrial Articulated Robots.In Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-321-6, pages 71-80. DOI: 10.5220/0006833500810090

@conference{icinco18,
author={Květoslav Belda.},
title={Nonlinear Design of Model Predictive Control Adapted for Industrial Articulated Robots},
booktitle={Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2018},
pages={71-80},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006833500810090},
isbn={978-989-758-321-6},
}

TY - CONF

JO - Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Nonlinear Design of Model Predictive Control Adapted for Industrial Articulated Robots
SN - 978-989-758-321-6
AU - Belda, K.
PY - 2018
SP - 71
EP - 80
DO - 10.5220/0006833500810090

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