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 …

Robotic systems present physical limitations in the maximum torque that the motors can
apply and its variation rate. Also, due to safety regulations, there are strict limitations in the …

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 …

The paper extends a simplified fast-model predictive control technique to a multi-variable
system. The strategy is based on identifying drive combinations which will maximise the time …

In this paper a new control concept for industrial robots (IR) will be presented which is based
on predictive control principles. It can be easily implemented even for elastic mechanical IR …

A dynamic output feedback controller for flexible joint robots is presented which guarantees
asymptotic tracking of a desired trajectory, starting from arbitrary initial conditions. The …

Predictive Functional Control - Application to Fast and Accurate Robots Page 1 Copvright ©
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This paper presents an application of the generalized predictive control to a single link
flexible joint robot. The objective is to track some predefined profiles for angular …

Three nonlinear continuous-time predictive control schemes are proposed to address the
trajectory tracking control problem of rigid link robot manipulators. The control laws using …

In this paper, we are interested in the control of a two degree of freedom flexible arm. The
objective is to develop a control algorithm that allows to follow some prespecified reference …