Model Predictive Interaction Control for Industrial Robots

Constrained Model Predictive Control of Low-power Industrial Gas Turbine

Nowadays, extensive research has been conducted for gas turbine engines control due to growing importance of gas turbine engines for different industries and the need to design a suitable control system for a gas turbine as the heart of the industry. In order to design gas turbine control system, various control variables can be used, but in the meantime, fuel flow inserting into combustion cha...

Predictive control for modern industrial robots - algorithms and their applications

Industrial robots comprise substantial parts of machine tools and manipulators in production lines. Their present development stagnates in their control. Traditional approaches, e.g. NC (numerical control) systems combined with PID/PSD structures, provide control of the tool drives as separate units only, but not solve the control from view of the whole machine system. On the other hand, in con...

Control technology for industrial robots

Model Predictive Control of Nonholonomic Mobile Robots

Robust Trajectory Free Model Predictive Control of Biped Robots with Adaptive Gait Length

This paper employs nonlinear disturbance observer (NDO) for robust trajectory-free Nonlinear Model Predictive Control (NMPC) of biped robots. The NDO is used to reject the additive disturbances caused by parameter uncertainties, unmodeled dynamics, joints friction, and external slow-varying forces acting on the biped robots. In contrary to the slow-varying disturbances, handling sudden pushing ...