A predictive control algorithm with interpolation for a robot manipulator with constraints

IEEE Conference on Control Applications - Proceedings

Volumn , Issue , 2001, Pages 536-541

  Torres, S ^a   Mendez J A ^a   Acosta, L ^a   Sigut, M ^a   Marichal, G N ^a   Moreno, L ^a  

^a UNIVERSIDAD DE LA LAGUNA   (Spain)

Author keywords

Constrained control; Model based predictive control; Optimal control; Robotics

Indexed keywords

ALGORITHMS; COMPUTER SIMULATION; CONSTRAINT THEORY; INTERPOLATION; MANIPULATORS; OPTIMAL CONTROL SYSTEMS; PERTURBATION TECHNIQUES; PROBLEM SOLVING; RICCATI EQUATIONS; ROBOTIC ARMS; ROBOTICS; VECTORS;

CONSTRAINED CONTROL; CONTROL LAW; MODEL BASED PREDICTIVE CONTROL; PREDICTIVE CONTROL ALGORITHM;

PREDICTIVE CONTROL SYSTEMS;

EID: 0035691905     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (7)

1. 2-optimal approach
2. Linear quadratic feasible predictive control
3. Application of MPC with interpolation to a crane problem
4. State-space approach to interpolation in MPC
5. A computationally efficient constrained predictive control law
6. Constrained linear quadratic regulation