Abstract
The paper discusses predictive control algorithms in the context of applications to robotics and manufacturing systems. Special features of such systems, as compared to traditional process control applications, require that the algorithms are capable of dealing with faster dynamics, more significant unstabilities and more significant contribution of non-linearities to the system performance. The paper presents the general framework for state-space design of predictive algorithms. Linear algorithms are introduced first, then, the attention moves to non-linear systems. Methods of predictive control are presented which are based on the state-dependent state space system description. Those are illustrated on examples of rather difficult mechanical systems.
Original language | English |
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Title of host publication | Proceedings of the International Symposium on Methods and Models in Automation and Robotics |
Place of Publication | Miedzyzdroje, Poland |
Number of pages | 14 |
Volume | 2 |
Publication status | Published - 2001 |
Event | 7th International Conference on Methods and Models in Automation and Robotics - Miedzyzdroje, Poland Duration: 20 Aug 2001 → 21 Aug 2001 |
Conference
Conference | 7th International Conference on Methods and Models in Automation and Robotics |
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Country/Territory | Poland |
City | Miedzyzdroje |
Period | 20/08/01 → 21/08/01 |
Keywords
- non-linear predictive control
- manufacturing
- robot
- robotic applications