NDLI: One step ahead nonlinear predictive control of two links robot manipulators

Content Provider	IEEE Xplore Digital Library
Author	Bdirina, K. Hajer, R. Boucherit, M. Djoudi, D. Rabehi, D.
Copyright Year	2012
Description	Author affiliation: Electronics Departments, Djelfa University, P.O. Box 3117 17000, (Algeria) (Djoudi, D.; Rabehi, D.) \|\| Department of Computer Engineering, King Saud University P.O. Box 51178 Riyadh, (Kingdom of Saudi Arabia) (Hajer, R.) \|\| National polytechnic school (ENP), Hacen Badi avenue El Harrach, (Algeria) (Bdirina, K.; Boucherit, M.)
Abstract	Rigid link manipulators have attracted more and more attention from robot control theorists and robot users because of its various potential advantages. However, their nonlinear dynamics present a challenging control problem, since traditional linear control approaches do not easily apply. For a while, the difficulty was mitigated by the fact that manipulators were highly geared, thereby strongly reducing the interactive dynamic effects between links. In this work a fixed one step ahead nonlinear predictive control has been applied to compute time optimal solutions for a two link manipulator operating in the horizontal plane subject to control angle positions, where the solution is obtained by minimizing a cost function. Tracking performances of the controller are investigated via some simulations.
Starting Page	1219
Ending Page	1223
File Size	124570
Page Count	5
File Format	PDF
ISBN	9781467312998
e-ISBN	9781467313018
DOI	10.1109/SPEEDAM.2012.6264516
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-06-20
Publisher Place	Italy
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	robot manipulator optimization Predictive models cost function Trajectory nonlinear system Nonlinear systems One step ahead predictive control Manipulator dynamics Predictive control
Content Type	Text
Resource Type	Article

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