Nonlinear Receding-Horizon Control of Rigid Link Robot Manipulators
نویسندگان
چکیده
منابع مشابه
Nonlinear Receding-Horizon Control of Rigid Link Robot Manipulators
The approximate nonlinear receding-horizon control law is used to treat the trajectory tracking control problem of rigid link robot manipulators. The derived nonlinear predictive law uses a quadratic performance index of the predicted tracking error and the predicted control effort. A key feature of this control law is that, for their implementation, there is no need to perform an online optimi...
متن کاملUnconstrained receding-horizon control of nonlinear systems
It is well known that unconstrained infinite-horizon optimal control may be used to construct a stabilizing controller for a nonlinear system. In this note, we show that similar stabilization results may be achieved using unconstrained finite horizon optimal control. The key idea is to approximate the tail of the infinite horizon cost-to-go using, as terminal cost, an appropriate control Lyapun...
متن کاملPlanning and Control of Two-Link Rigid Flexible Manipulators in Dynamic Object Manipulation Missions
This research focuses on proposing an optimal trajectory planning and control method of two link rigid-flexible manipulators (TLRFM) for Dynamic Object Manipulation (DOM) missions. For the first time, achievement of DOM task using a rotating one flexible link robot was taken into account in [20]. The authors do not aim to contribute on either trajectory tracking or vibration control of the End-...
متن کاملReceding Horizon Networked Control
This paper deals with the design of control systems over lossy networks. A network is assumed to exist between the sensor and the controller and between the latter and the actuator. Packets are dropped according to a Bernoulli independent process, with γ and μ being the probabilities of losing an observation packet and a control packet respectively, at time any instant t. A receding horizon con...
متن کاملApproximate explicit receding horizon control of constrained nonlinear systems
An algorithm for the construction of an explicit piecewise linear state feedback approximation to nonlinear constrained receding horizon control is given. It allows such controllers to be implemented via an efficient binary tree search, avoiding real-time optimization. This is of significant benefit in applications that requires low real-time computational complexity or software complexity. The...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: International Journal of Advanced Robotic Systems
سال: 2005
ISSN: 1729-8814,1729-8814
DOI: 10.5772/5806