Two control design approaches are proposed for robust and accurate trajectory tracking of
flexible-joint robot manipulators using motor-side measurements only. Within a two-degrees …

Modern Lightweight robots are constructed to be collaborative, which often results in a low
structural stiffness compared to conventional rigid robots. Therefore, the controller must be …

This paper describes a novel approach combining identification and control design for
motion control of multiple-link elastic-joint robots with motor sensors only and in presence of …

Abstract Model Based Predictive Control (MPC) is an interesting approach due to its ability
to consider the constraints of the controlled system and easily adapt to the future reference …

In this paper, an improved predictive control algorithm for controlling a typical nonlinear
flexible-joint robot (FJR) with input constraint is proposed. The receding horizon algorithm …

This paper proposes a real-time model predictive control (MPC) strategy for accomplishing
multiple tasks using robots within a finite-time horizon. In industrial robotic applications, it is …

This study addresses the trajectory tracking control challenges of robot manipulators with
uncertain dynamics. The aim is to achieve precise and smooth trajectory regulation through …

A model predictive tracking control algorithm for rigid manipulators considering the
existence of external time-varying disturbances is studied in this paper. In the field of …

A robust nonlinear predictive controller for single-link flexible joint robot is presented in this
paper. The objective is to track some predefined profiles for angular displacement of the link …

In this article, a robust model predictive control (MPC) algorithm based on tube approach is
presented for time-varying trajectory tracking control of robot manipulator. The robot …