Informatics in Control, Automation and Robotics : 15th International Conference, ICINCO 2018, Porto, Portugal, July 29-31, 2018, Revised Selected Papers

0517130 - ÚTIA 2020 RIV CH eng M - Monography Chapter
Belda, Květoslav
Nonlinear Model Predictive Control Algorithms for Industrial Articulated Robots.
Informatics in Control, Automation and Robotics : 15th International Conference, ICINCO 2018, Porto, Portugal, July 29-31, 2018, Revised Selected Papers. Cham: Springer, 2019 - (Gusikhin, O.; Madani, K.), s. 230-251. Lecture Notes in Electrical Engineering, 613. ISBN 978-3-030-31992-2
Institutional support: RVO:67985556
Keywords : discrete model predictive control * nonlinear design * lagrange equations * articulated robots
OECD category: Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
http://library.utia.cas.cz/separaty/2019/AS/belda-0517130.pdf

This paper deals with a novel nonlinear design of the discrete model predictive control represented by two algorithms based on the features of linear methods for the numerical solution of ordinary differential equations. The design algorithms allow more accurate motion control of robotic or mechatronic systems that are usually modelled by nonlinear differential equations up to the second order. The proposed ways apply nonlinear models directly to the construction of equations of predictions employed in predictive control design. These equations are composed using principles of explicit linear multi-step methods leading to straightforward and unambiguous construction of the predictions. Examples of the noticeably improved behaviour of proposed ways in comparison with conventional linear predictive control are demonstrated by comparative simulations with the nonlinear model of six-axis articulated robot.
Permanent Link: http://hdl.handle.net/11104/0302696