loading
Papers Papers/2022 Papers Papers/2022

Research.Publish.Connect.

Paper

Paper Unlock

Author: Květoslav Belda

Affiliation: Department of Adaptive Systems, The Czech Academy of Sciences, Institute of Information Theory and Automation, Pod Vodárenskou věží 4, 182 08 Prague 8 and Czech Republic

Keyword(s): Discrete Model Predictive Control, Nonlinear Design, Lagrange Equations, Articulated Robots.

Related Ontology Subjects/Areas/Topics: Industrial Automation and Robotics ; Industrial Engineering ; Informatics in Control, Automation and Robotics ; Modeling, Simulation and Architectures ; Robot Design, Development and Control ; Robotics and Automation ; Systems Modeling and Simulation

Abstract: 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.

CC BY-NC-ND 4.0

Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 18.221.53.209

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
Belda, K. (2018). Nonlinear Design of Model Predictive Control Adapted for Industrial Articulated Robots. In Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-758-321-6; ISSN 2184-2809, SciTePress, pages 71-80. DOI: 10.5220/0006833500710080

@conference{icinco18,
author={Květoslav Belda.},
title={Nonlinear Design of Model Predictive Control Adapted for Industrial Articulated Robots},
booktitle={Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2018},
pages={71-80},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006833500710080},
isbn={978-989-758-321-6},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - Nonlinear Design of Model Predictive Control Adapted for Industrial Articulated Robots
SN - 978-989-758-321-6
IS - 2184-2809
AU - Belda, K.
PY - 2018
SP - 71
EP - 80
DO - 10.5220/0006833500710080
PB - SciTePress

- Science and Technology Publications, Lda.
RESOURCES

Proceedings

Papers

Authors

Ontology

CONTACTS

Science and Technology Publications, Lda
Avenida de S. Francisco Xavier, Lote 7 Cv. C,
2900-616 Setúbal, Portugal.

Phone: +351 265 520 185 (National fixed network call)
Fax: +351 265 520 186
Email: info@scitepress.org

EXTERNAL LINKS

PRIMORIS

INSTICC

SCITEVENTS

CROSSREF

PROCEEDINGS SUBMITTED FOR INDEXATION BY:

dblp

Ei Compendex

SCOPUS

Semantic Scholar

Google Scholar

Microsoft Academic