A Non-Linear Continuous-Time Generalized Predictive Control for a Planar Cable-Driven Parallel Robot
This paper addresses a novel nonlinear algorithm for the trajectory tracking of a planar cable-driven parallel robot. In particular, we outline a nonlinear continuous-time generalized predictive control (NCGPC). The proposed controller design is based on the finite horizon continuous-time minimizati...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2021-05-01
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| Series: | Actuators |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-0825/10/5/97 |