Harmonic Based Model Predictive Control for Set-Point Tracking

DOI10.1109/TAC.2020.3047579MaRDI QIDQ5033995zbMATH OpenOpenAlexFDO

Authors Pablo Krupa, Daniel Limon, T. Alamo

Publication date 24 February 2022

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/2004.07810

Mathematics Subject Classification ID

Systems theory; control (93-XX)

Cited in

(4)

• High-speed precision tracking with harmonic drive systems using integral manifold control design
• A Halpern fixed-point iteration-based approach to harmonic model predictive control problem
• Nonlinear reference tracking using robust MPC without computing all linearised models
• Robust nonlinear MPC for tracking piece-wise constant reference signals

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