Title :
On a new predictive control strategy: application to a flexible-joint robot
Author :
Von Wissel, Dirk ; Nikoukhah, Ramine ; Campbell, Stephen L.
Author_Institution :
Inst. Nat. de Recherche en Inf. et Autom., Le Chesnay, France
Abstract :
It is shown that it is possible to greatly improve the performance of the predictive control strategy proposed by Jankowski and Van Brussel (1992) by using preliminary linear feedback. This is illustrated using the example of a flexible-joint robot path following problem
Keywords :
feedback; flexible structures; predictive control; robots; flexible-joint robot path following problem; predictive control; preliminary linear feedback; Control systems; Ear; Feedback; Mathematics; Nonlinear systems; Open loop systems; Predictive control; Robots; Sampling methods; Stability;
Conference_Titel :
Decision and Control, 1994., Proceedings of the 33rd IEEE Conference on
Conference_Location :
Lake Buena Vista, FL
Print_ISBN :
0-7803-1968-0
DOI :
10.1109/CDC.1994.411325
