TUHH Open Research
Help
  • Log In
    New user? Click here to register.Have you forgotten your password?
  • English
  • Deutsch
  • Communities & Collections
  • Publications
  • Research Data
  • People
  • Institutions
  • Projects
  • Statistics
  1. Home
  2. TUHH
  3. Publications
  4. Constrained predictive control of a robotic manipulator using quasi-LPV representations
 
Options

Constrained predictive control of a robotic manipulator using quasi-LPV representations

Citation Link: https://doi.org/10.15480/882.3472
Publikationstyp
Journal Article
Date Issued
2018-11-23
Sprache
English
Author(s)
Cisneros, Pablo S. G.  
Sridharan, Aadithyan  
Werner, Herbert  
Institut
Regelungstechnik E-14  
TORE-DOI
10.15480/882.3472
TORE-URI
http://hdl.handle.net/11420/2481
Journal
IFAC-PapersOnLine  
Volume
51
Issue
26
Start Page
118
End Page
123
Citation
IFAC-PapersOnLine 26 (51): 118-123 (2018)
Contribution to Conference
2nd IFAC Workshop on Linear Parameter Varying Systems LPVS 2018  
Publisher DOI
10.1016/j.ifacol.2018.11.158
Scopus ID
2-s2.0-85056935740
Publisher
Elsevier
In this paper a practical approach to Nonlinear Model Predictive Control (NMPC) of a robotic manipulator subject to nonlinear state constraints is presented, which leads to a successful experimental implementation of the control algorithm. The use of quasi-LPV modelling is at the core of this scheme as complex nonlinear optimization is replaced by efficient Quadratic Programming (QP) exploiting the quasi-linearity of the resulting model and constraints. The quasi-LPV model is obtained via velocity-based linearization which results in an exact representation of the nonlinear dynamics and enables stability guarantees with offset-free control. The experimental results show the efficiency and efficacy of the algorithm, as well as its robustness to unmodelled dynamics.
DDC Class
600: Technik
620: Ingenieurwissenschaften
Publication version
publishedVersion
Lizenz
https://creativecommons.org/licenses/by-nc-nd/4.0/
Loading...
Thumbnail Image
Name

1-s2.0-S2405896318328210-main.pdf

Size

855.67 KB

Format

Adobe PDF

TUHH
Weiterführende Links
  • Contact
  • Send Feedback
  • Cookie settings
  • Privacy policy
  • Impress
DSpace Software

Built with DSpace-CRIS software - Extension maintained and optimized by 4Science
Design by effective webwork GmbH

  • Deutsche NationalbibliothekDeutsche Nationalbibliothek
  • ORCiD Member OrganizationORCiD Member Organization
  • DataCiteDataCite
  • Re3DataRe3Data
  • OpenDOAROpenDOAR
  • OpenAireOpenAire
  • BASE Bielefeld Academic Search EngineBASE Bielefeld Academic Search Engine
Feedback