Nonlinear Receding-Horizon Control of Rigid Link Robot Manipulators

Nonlinear Receding-Horizon Control of Rigid Link Robot Manipulators

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The approximate nonlinear receding-horizon control law is used to treat the trajectory tracking control problem of rigid link robot manipulators. The derived nonlinear predictive law uses a quadratic performance index of the predicted tracking error and the predicted control effort. A key feature of...

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Bibliographic Details
Main Authors: R. Hedjar, Boucher, P.
Format: Article
Language:English
Published: SAGE Publishing 2008-11-01
Series:International Journal of Advanced Robotic Systems
Subjects:
receding-horizon control
nonlinear observer
robot manipulators
integral action
robustness.
Online Access:http://www.intechopen.com/articles/show/title/nonlinear_receding-horizon_control_of_rigid_link_robot_manipulators

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http://www.intechopen.com/articles/show/title/nonlinear_receding-horizon_control_of_rigid_link_robot_manipulators

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