Cascaded predictive structures have been successfully implemented for the velocity and
position control of motor drives, with good temporal and frequency results (small overshoot …

This paper proposes a Model Predictive Control (MPC) algorithm for the solution of a robust
control problem for continuous-time systems. Discontinuous feedback strategies are allowed …

The number of robots working in industry significantly increases due to their capacity to
realize operations that requires flexibility, rapidity and accuracy. However, as quick flexible …

This note proposes a model predictive control (MPC) algorithm for the solution of a robust
control problem for continuous-time systems. Discontinuous feedback strategies are allowed …

In this paper, we firstly propose a robust optimal predictive control (ROPC) scheme. In the
ROPC scheme proposed, an optimal predictive control (OPC) is combined with a robust …

This paper looks at the efficiency of the parameterisation of the degrees of freedom within an
optimal predictive control algorithm. It is shown that the conventional approach of directly …

Robots are complex electromechanical systems where several electric drives are employed
to control the movement of articulated structures. In industrial environments they must …

The efficiency of model predictive control can be increased by the online choice of a low
number of degrees of freedom in the parametrization of the input trajectory. The complexity …

In this paper, a novel scheme with a predictive action is proposed for trajectory control of
robotic manipulators. The algorithm is based on a CARIMA model for each joint, by means of …

This paper presents a model predictive control (MPC) algorithm and its application in a
robust MISO controller with constraints handling. The robustness is achieved by defining an …