This paper proposes a novel formulation of Model Predictive Control (MPC), based on
linearized models, for tip trajectory tracking of time-varying references in an underactuated …

Designing a controller to manipulate a flexible space robot is hampered by the inherent
complex nonlinear dynamics. Furthermore, the collision of a space robot with an external …

A key component in enabling the application of model predictive control (MPC) in fields such
as automotive, aerospace, and factory automation is the availability of low-complexity fast …

This work addresses the application of implementable stabilizing model predictive control
(MPC) strategies to a rotary flexible link (RFL). Despite their practice usefulness and design …

In this paper we propose an approach for solving convex quadratic programs (QPs) with
linear equalities and general linear inequalities by the alternating direction method of …

A robust disturbance rejection control scheme is addressed for the trajectory tracking
problem of a flexible-joint robot (FJR). The system is always severely affected by various …

In this paper, a numerical investigation of the Model Predictive Control strategy applied to
flexible-link mechanisms is presented. The mechanisms used for all the tests are a planar …

Automation of the industrial sector is increasing rapidly. Many industrial applications involve
robotic manipulators in a networked environment with sensor and an actual plant via a …

In this paper, an algorithm is proposed to improve the Maximum Load Carrying Capacity
(MLCC) of exible robot manipulators. The maximum allowable load which can be achieved …

NONLINEAR MODEL PREDICTIVE CONTROL OF DYNAMIC POSITIONING OF DEEP-SEA
SHIPS WITH A UNIFIED MODEL Page 1 International Journal of Robotics and Automation …