Nonlinear Model Predictive Control Algorithms for Industrial Articulated Robots

DOI10.1007/978-3-030-31993-9_11zbMath1504.93082OpenAlexW2982335999MaRDI QIDQ5053560

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)

Uses Software

• ACADO
• MuShROOM
• qpHPSC

Cites Work

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• FORCES NLP: an efficient implementation of interior-point methods for multistage nonlinear nonconvex programs
• Numerical Methods for Ordinary Differential Equations
• Nonlinear Design of Model Predictive Control Adapted for Industrial Articulated Robots