Nonlinear Model Predictive Control of a Cable-Robot-Based Motion Simulator

Dual Space Control of a Deployable Cable Driven Robot: Wave Based Approach

Known for their lower costs and numerous applications, cable robots are an attractive research field in robotic community. However, considering the fact that they require an accurate installation procedure and calibration routine, they have not yet found their true place in real-world applications. This paper aims to propose a new controller strategy that requires no meticulous calibration and ...

Hybrid model predictive control of a nonlinear three-tank system based on the proposed compact form of piecewise affine model

In this paper, a predictive control based on the proposed hybrid model is designed to control the fluid height in a three-tank system with nonlinear dynamics whose operating mode depends on the instantaneous amount of system states. The use of nonlinear hybrid model in predictive control leads to a problem of mixed integer nonlinear programming (MINLP) which is very complex and time consuming t...

Motion Control of a Robot Manipulator in Free Space Based on Model Predictive Control

Improved Optimization Process for Nonlinear Model Predictive Control of PMSM

Model-based predictive control (MPC) is one of the most efficient techniques that is widely used in industrial applications. In such controllers, increasing the prediction horizon results in better selection of the optimal control signal sequence. On the other hand, increasing the prediction horizon increase the computational time of the optimization process which make it impossible to be imple...

Nonlinear Model Predictive Control of an Omnidirectional Mobile Robot

This paper focuses on motion control problems of an omnidirectional robot based on the Nonlinear Model Predictive Control (NMPC) method. Although NMPC has been studied in many mobile robots applications due to the advantages of taking the robot constraints into account and increasing the robot performance with future information, the high computational requirement makes NMPC difficult to be uti...