Publisher DOI: 10.1016/j.ifacol.2018.11.158
Title: Constrained Predictive Control of a Robotic Manipulator using quasi-LPV Representations
Language: English
Authors: Cisneros, Pablo S. G. 
Sridharan, Aadithyan 
Werner, Herbert 
Issue Date: 2018
Source: IFAC-PapersOnLine 26 (51): 118-123 (2018)
Journal or Series Name: IFAC-PapersOnLine 
Abstract (english): 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.
ISSN: 2405-8963
Institute: Regelungstechnik E-14 
Type: (wissenschaftlicher) Artikel
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