This paper contains a proposal for the implementation of robotic controllers. It seeks to solve
the problem of calculating an optimal control sequence at each sampling time that performs …

Conventional linear controllers (PID) are not really suitable for the control of robot
manipulators due to the highly nonlinear behavior of the latter. Over the last decades …

Robot manipulators present restrictions on their performance, such as the maximum torque
the motors can apply, limitations in their position, speed, acceleration, etc. This paper …

In this work two techniques for offline robustness improvement of Model Predictive Control
(MPC) for applications on robot manipulators are shown. The first is based on the Youla …

Industrial robots comprise substantial parts of machine tools and manipulators in production
lines. Their present development stagnates in their control. Traditional approaches, eg NC …

In this paper a novel scheme, named Generalized Predictive Control (GPC) is formulated for
trajectory tracking control of a two degree-of-freedom manipulator. The simulation results are …

This paper deals with a novel nonlinear design of the discrete model predictive control
represented by two algorithms based on the features of linear methods for the numerical …

In this paper two predictive controllers for non-linear systems are presented. Both methods—
ELPC and MELPC—are based on a local linearisation of the process at each sampling …

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 …