Constrained incremental predictive controller design for a flexible joint robot

ISA Transactions

Volumn 48, Issue 3, 2009, Pages 321-326

  Ghahramani, Nemat Ollah ^a   Towhidkhah, Farzad ^a  

^a AMIRKABIR UNIVERSITY OF TECHNOLOGY   (Iran)

Author keywords

Flexible joint robot; Incremental form; Model predictive control; Robustness

Indexed keywords

FLEXIBLE MANIPULATORS; MACHINE DESIGN; MODEL PREDICTIVE CONTROL; PREDICTIVE CONTROL SYSTEMS; QUADRATIC PROGRAMMING; ROBOTS; ROBUSTNESS (CONTROL SYSTEMS);

ACTUATOR SATURATIONS; CONTROL STRATEGIES; FLEXIBLE JOINT ROBOTS; GENERALIZED PREDICTIVE CONTROL; INPUT CONSTRAINTS; PREDICTIVE CONTROL; PREDICTIVE CONTROL ALGORITHM; PREDICTIVE CONTROLLER;

CONTROLLERS;

ALGORITHM; ARTICLE; COMPUTER SIMULATION; ELASTICITY; FEEDBACK SYSTEM; INSTRUMENTATION; METHODOLOGY; QUALITY CONTROL; ROBOTICS; STATISTICAL MODEL;

ALGORITHMS; COMPUTER SIMULATION; ELASTICITY; FEEDBACK; LINEAR MODELS; QUALITY CONTROL; ROBOTICS;

EID: 67349096404     PISSN: 00190578     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.isatra.2009.01.010     Document Type: Article

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