MPC and H-infinity based feedback control of non-linear robotic manipulator
Pressing demands of accuracy, repeatability, reliability and productivity in today's robotic
applications has highlighted significance of modern control techniques. This research …
applications has highlighted significance of modern control techniques. This research …
[PDF][PDF] Modern control laws for an articulated robotic arm
J Iqbal - Engineering, Technology & Applied Science …, 2019 - hull-repository.worktribe.com
H/sup infinity/model-based robust control of a manipulator
K Hashimoto, T Kimoto, M Kawabata… - Proceedings IROS'91 …, 1991 - ieeexplore.ieee.org
Mechanical manipulators are modeled by a set of coupled nonlinear second-order
differential equations. When a complete model of the manipulator dynamics is obtained …
differential equations. When a complete model of the manipulator dynamics is obtained …
Controller design for a Stewart platform using small workspace characteristics
SH Lee, JB Song, WC Choi… - … Role of Robotics in the the …, 2001 - ieeexplore.ieee.org
Configuration-dependent nonlinear coefficient matrices in the dynamic equation of a robot
manipulator impose computational burden in real-time implementation of tracking control …
manipulator impose computational burden in real-time implementation of tracking control …
Modeling and control of one-link robotic manipulator using neural network based PID controller
R Kumar, S Srivastava… - … Conference on Advances …, 2016 - ieeexplore.ieee.org
The dynamics of one-link robotic manipulator is complex and non linear and hence, cannot
be easily controlled by conventional PID controller. The severity of the problem further …
be easily controlled by conventional PID controller. The severity of the problem further …
Tracking control of the two-link manipulator using nonlinear model predictive control
T Henmi, T Ohta, M Deng… - … Conference on Networking …, 2009 - ieeexplore.ieee.org
Model predictive control (MPC) an optimization-based approach that decides a control input
by the optimal computation as the system output tracks the reference trajectory which is the …
by the optimal computation as the system output tracks the reference trajectory which is the …
An H-infinity nonlinear control approach for multi-DOF robotic manipulators
The paper proposes a new nonlinear H-infinity control method for multi-DOF robotic
manipulators. At first stage local linearization of the robotic model is performed round its …
manipulators. At first stage local linearization of the robotic model is performed round its …
A nonlinear H-infinity control method for multi-DOF robotic manipulators
The paper proposes a new nonlinear H-infinity control method for multi-DOF robotic
manipulators. At first stage local linearization of the robotic model is performed round its …
manipulators. At first stage local linearization of the robotic model is performed round its …
A nonlinear H-infinity control approach for closed-chain robotic mechanisms
The article proposes a nonlinear H-infinity (optimal) control approach to the problem of
control of closed-chain robotic mechanisms. The dynamic model of the closed-chain robotic …
control of closed-chain robotic mechanisms. The dynamic model of the closed-chain robotic …
[PDF][PDF] Optimal H infinity controller applied to a Stewart platform
R Breganon, MAF Montezuma… - … Journal of Advanced …, 2018 - repositorio.usp.br
In recent years there has been great interest in studying parallel manipulators, mainly
applied in flight simulators, with six degrees of freedom. The interest in parallel kinematic …
applied in flight simulators, with six degrees of freedom. The interest in parallel kinematic …