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 …

The paper presents an efficient control algorithm applied on a two-link robot manipulator
with input constraints. The algorithm proposes a suboptimal solution to the predictive control …

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 …

Predictive Functional Control - Application to Fast and Accurate Robots Page 1 Copvright ©
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An application of Non-Linear Model Predictive Control (NLMPC) to the stabilisation of a
kinematic model of a two wheel mobile robot with input and (non-holonomic) state …

The paper extends a simplified fast-model predictive control technique to a multi-variable
system. The strategy is based on identifying drive combinations which will maximise the time …

It is shown that it is possible to greatly improve the performance of the predictive control
strategy proposed by Jankowski and Van Brussel (1992) by using preliminary linear …

Predictive controllers which are able to guarantee constraint fulfilment in the presence of
input disturbances, typically based on min-max formulations, often suffer excessive …

This paper presents a software library developed to implement model predictive control
(MPC) strategies in real-time. By using MPC, an appropriate optimal control law is implicitly …

This paper presents some applications of a Model Based Predictive Control (MBPC) type
algorithm which is applied to nonlinear processes. The basic idea of the algorithm is the on …