Nonlinear Model Predictive Control Algorithms for Industrial Articulated Robots

DOI10.1007/978-3-030-31993-9_11MaRDI QIDQ5053560zbMATH OpenOpenAlexFDO

Authors Květoslav Belda

Publication date 6 December 2022

Published in Informatics in Control, Automation and Robotics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/978-3-030-31993-9_11

zbMATH Keywords

Lagrange equationsnonlinear designarticulated robotsdiscrete model predictive control

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85) Model predictive control (93B45)

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Cites work

• scientific article; zbMATH DE number 194427 (Why is no real title available?)
• scientific article; zbMATH DE number 852525 (Why is no real title available?)
• scientific article; zbMATH DE number 931789 (Why is no real title available?)
• A state-space description for GPC controllers
• FORCES NLP: an efficient implementation of interior-point methods for multistage nonlinear nonconvex programs
• Fast Numerical Methods for Mixed-Integer Nonlinear Model-Predictive Control
• Model predictive control system design and implementation using \texttt{MATLAB}
• Nonlinear Design of Model Predictive Control Adapted for Industrial Articulated Robots
• Numerical Methods for Ordinary Differential Equations
• Predictive control with constraints
• Robust constrained model predictive control using linear matrix inequalities
• \texttt{ACADO toolkit} -- an open-source framework for automatic control and dynamic optimization

Cited in

(3)

• Path modelling and 3D robot visualization for model-based control of articulated robots
• Nonlinear Design of Model Predictive Control Adapted for Industrial Articulated Robots
• Nonlinear Robust Industrial Robot Control

Describes a project that uses

Uses Software

• qpHPSC
• MuShROOM
• ACADO

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