On a new predictive control strategy: application to a flexible-joint robot

It is shown that it is possible to greatly improve the performance of the predictive control strategy proposed by Jankowski and Van Brussel (1992) by using preliminary linear feedback. This is illustrated using the example of a flexible-joint robot path following problem.< >

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Bibliographic Details
Main Authors: von Wissel, D., Nikoukhah, R., Campbell, S.L.
Format: Conference Proceeding
Language:English
Subjects:
Control systems
Ear
Feedback
Mathematics
Nonlinear systems
Open loop systems
Predictive control
Robots
Sampling methods
Stability
Online Access:Request full text
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Description
Summary:It is shown that it is possible to greatly improve the performance of the predictive control strategy proposed by Jankowski and Van Brussel (1992) by using preliminary linear feedback. This is illustrated using the example of a flexible-joint robot path following problem.< >
DOI:10.1109/CDC.1994.411325