Closed-Loop Control of Variable Stiffness Actuated Robots via Nonlinear Model Predictive Control
نویسندگان
چکیده
منابع مشابه
Closed-loop Behavior of Nonlinear Model Predictive Control
Model predictive control (MPC) relies on real-time optimization to determine open-loop control profiles and state estimates given process measurements. When the underlying process model is nonlinear, the MPC system exhibits unique behavior not seen in linear MPC. In this article, we highlight some of the characteristics of nonlinear models in the context of closedloop performance. We examine th...
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ژورنال
عنوان ژورنال: IEEE Access
سال: 2015
ISSN: 2169-3536
DOI: 10.1109/access.2015.2418157