Position Control of a Flexible Joint via Explicit Model Predictive Control: An Experimental Implementation

Position Control of a Flexible Joint via Explicit Model Predictive Control: An Experimental Implementation

This paper experimentally controls a flexible joint via explicit model predictive control (Explicit MPC) method. The scheme divides the state space into different partitions, then solves the associated multi parametric optimization in off-line computations. The result stores in a look-up table to be...

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Bibliographic Details
Main Authors: Massoud Hemmasian Ettefagh, Mahyar Naraghi, Farzad Towhidkhah
Format: Article
Language:English
Published: Ital Publication 2019-06-01
Series:Emerging Science Journal
Subjects:
Flexible Joint
Explicit Model Predictive Control
Multi-Parametric Optimization
Discrete Linear Time Invariant System.
Online Access:https://ijournalse.org/index.php/ESJ/article/view/174

Internet

https://ijournalse.org/index.php/ESJ/article/view/174

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