Nonlinear Design of Model Predictive Control Adapted for Industrial Articulated Robots

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F67985556%3A_____%2F18%3A00491940" target="_blank" >RIV/67985556:_____/18:00491940 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.5220/0006833500710080" target="_blank" >http://dx.doi.org/10.5220/0006833500710080</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.5220/0006833500710080" target="_blank" >10.5220/0006833500710080</a>

Result language
angličtina
Original language name
Nonlinear Design of Model Predictive Control Adapted for Industrial Articulated Robots
Original language description
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.
Czech name
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Czech description
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Project
—
Continuities
I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Publication year
2018
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
ICINCO 2018 : Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics
ISBN
978-989-758-321-6
ISSN
2184-2809
e-ISSN
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Number of pages
10
Pages from-to
71-80
Publisher name
INSTICC, SCITEPRESS.
Place of publication
Setubal
Event location
Porto
Event date
Jul 28, 2018
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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