Model Predictive Control of a Flexible Links Mechanism

Boscariol, Paolo; Gasparetto, Alessandro; Zanotto, V.

doi:10.1007/s10846-009-9347-5

Cited by 55 publications

(34 citation statements)

References 15 publications

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“…The solution of this problem will allow to increase the operating speed as well as the precision of the manipulators [9]. For example, in [10] artificial neural networks-based fault detection and isolation applications for robotic manipulators are presented.…”

Section: Manipulator Robot Controlmentioning

confidence: 99%

Implementation and Comparison of Controllers for Planar Robots

Kern¹,

Urrea²,

Torres³

2017

Journal of Electrical Engineering and Technology

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-The nonlinear behavior and the high performance requirement are the main problems that appear in the design of manipulator robots and their controllers. For that reason, the simulation, realtime execution and comparison of the performance of controllers applied to a robot with three degrees of freedom are presented. Five controllers are prepared to test the robot's dynamic model: predictive; hyperbolic sine-cosine; sliding mode; hybrid composed of a predictive + hyperbolic sine-cosine controller; and adaptive controller. A redundant robot, a communication and signal conditioning interface, and a simulator are developed by means of the MatLab/Simulink software, which allows analyzing the dynamic performance of the robot and of the designed controllers. The manipulator robot is made to follow a test trajectory which, thanks to the proposed controllers, it can do. The results of the performance of this manipulator and of its controllers, for each of the three joints, are compared by means of RMS indices, considering joint errors according to the imposed trajectory and to the controller used.

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Section: Manipulator Robot Controlmentioning

confidence: 99%

Implementation and Comparison of Controllers for Planar Robots

Kern¹,

Urrea²,

Torres³

2017

Journal of Electrical Engineering and Technology

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show abstract

“…For descriptions and a general survey of MPC methods see [27], [28], [29], [30] and references reported therein. In the formation driving, researchers take advantage of MPC mainly to respond to changes in dynamic environment [31], [32], [33], [12], [13].…”

Section: State Of the Artmentioning

confidence: 99%

Fault-Tolerant Formation Driving Mechanism Designed for Heterogeneous MAVs-UGVs Groups

Saska

Krajník

Vonásek

et al. 2013

J Intell Robot Syst

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“…More and more components employing different AVC technologies are being developed for the aviation, aeronautic, automotive and building industries. Some proposed applications of active vibration control include vibration control of large flexible space structures [39,59,72], fixed wing surfaces of commercial and military aircraft [19,27,28], blade surfaces and other parts of rotary wing aircraft [9,47,54], automobile suspensions [13,63,80], satellites [30], antenna systems [1,82], precision manufacturing techniques [21,92,98], robotic arms and manipulators [14,37,96], optical systems [53,65,68], earthquake protection systems [48,73,76] and many others. Vibration reduction efforts are illustrated on spacecraft featured in Fig.…”

Section: What Is Active Vibration Control?mentioning

confidence: 99%