A Lyapunov-based model predictive control strategy with a disturbances compensation mechanism for dual-arm manipulators

DOI10.1016/j.ejcon.2023.100913MaRDI QIDQ6192730

Tung Lam Nguyen, Hue Luu Thi, Van Chung Nguyen

Publication date: 13 February 2024

Published in: European Journal of Control (Search for Journal in Brave)

zbMATH Keywords

sliding mode controlmodel predictive controlradial basis function neural networkdual-arm robotLyapunov-based MPC

Mathematics Subject Classification ID

Perturbations in control/observation systems (93C73) Automated systems (robots, etc.) in control theory (93C85) Variable structure systems (93B12) Model predictive control (93B45)

Cites Work

• Unnamed Item
• Modelling and control of two robotic manipulators handling a constrained object
• Event-based model predictive control for nonlinear systems with dynamic disturbance
• Nonlinear model predictive control with aggregated constraints
• Optimization-based adaptive neural sliding mode control for nonlinear systems with fast and accurate response under state and input constraints

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