This work presents a multivariable predictive controller applied on a redundant robotic
manipulator with three degrees of freedom. The article focuses on the design of a discrete …

Robot manipulators present restrictions on their performance, such as the maximum torque
the motors can apply, limitations in their position, speed, acceleration, etc. This paper …

Dynamic performance and energy efficiency can be improved by reducing the inertia of
mechanical systems. However, the components of such a system may be flexible and …

In this paper a model predictive control (MPC) approach developed in our previous work [1]
is used here for controlling a three degrees of freedom (DOF) manipulator robot, with a …

Conventional linear controllers (PID) are not really suitable for the control of robot
manipulators due to the highly nonlinear behavior of the latter. Over the last decades …

This paper makes contributions in the area of predictive control and in particular examines to
what extent different methods for parameterising the degrees of freedom within the input …

High-speed parallel manipulators are characterized by fast sampling rates and challenges
owing to the presence of constraints, high nonlinearities, uncertainties, and fast dynamics …

The paper presents an efficient control algorithm applied on a two-link robot manipulator
with input constraints. The algorithm proposes a suboptimal solution to the predictive control …

This paper deals with the design of a position control system using a robust nonlinear model
predictive controller, which is employed to control simultaneously car and arm positions of a …

The paper presents a software implementation of the nonlinear model predictive control
(NMPC) algorithm of Wen and Jung (2002, 2003) to a 6-degree-of-freedom robot …