Nonlinear Design of Model Predictive Control Adapted for Industrial Articulated Robots

Květoslav Belda

2018

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.

Paper Citation

in Harvard Style

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, pages 71-80. DOI: 10.5220/0006833500710080

in Bibtex Style

@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},
}

in EndNote Style

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
AU - Belda K.
PY - 2018
SP - 71
EP - 80
DO - 10.5220/0006833500710080