Nonlinear Model Predictive Control Algorithms for Industrial Articulated Robots

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Nonlinear Model Predictive Control Algorithms for Industrial Articulated Robots

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Nonlinear Model Predictive Control Algorithms for Industrial Articulated Robots

Popis výsledku anglicky

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.

Druh

C - Kapitola v odborné knize

CEP obor

—

OECD FORD obor

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Projekt

—

Návaznosti

I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Rok uplatnění

2019

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název knihy nebo sborníku

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

Počet stran výsledku

22

Strana od-do

230-251

Počet stran knihy

22

Název nakladatele

Springer

Místo vydání

Cham

Kód UT WoS kapitoly

—