Nonlinear Model Predictive Control Algorithms for Industrial Articulated Robots
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F67985556%3A_____%2F19%3A00517130" target="_blank" >RIV/67985556:_____/19:00517130 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1007/978-3-030-31993-9_11" target="_blank" >http://dx.doi.org/10.1007/978-3-030-31993-9_11</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1007/978-3-030-31993-9_11" target="_blank" >10.1007/978-3-030-31993-9_11</a>
Alternative languages
Result language
angličtina
Original language name
Nonlinear Model Predictive Control Algorithms for Industrial Articulated Robots
Original language description
This paper deals with a novel nonlinear design of the discrete model predictive control represented by two algorithms based on the features of linear methods for the numerical solution of ordinary differential equations. The design algorithms allow more accurate motion control of robotic or mechatronic systems that are usually modelled by nonlinear differential equations up to the second order. The proposed ways apply nonlinear models directly to the construction of equations of predictions employed in predictive control design. These equations are composed using principles of explicit linear multi-step methods leading to straightforward and unambiguous construction of the predictions. Examples of the noticeably improved behaviour of proposed ways in comparison with conventional linear predictive control are demonstrated by comparative simulations with the nonlinear model of six-axis articulated robot.
Czech name
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Czech description
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Classification
Type
C - Chapter in a specialist book
CEP classification
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OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
Result continuities
Project
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Continuities
I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace
Others
Publication year
2019
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Book/collection name
Informatics in Control, Automation and Robotics : 15th International Conference, ICINCO 2018, Porto, Portugal, July 29-31, 2018, Revised Selected Papers
ISBN
978-3-030-31992-2
Number of pages of the result
22
Pages from-to
230-251
Number of pages of the book
22
Publisher name
Springer
Place of publication
Cham
UT code for WoS chapter
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