کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
5005372 | 1369023 | 2009 | 6 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Constrained incremental predictive controller design for a flexible joint robot
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
کنترل و سیستم های مهندسی
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چکیده انگلیسی
In this paper, an improved predictive control algorithm for controlling a typical nonlinear flexible-joint robot (FJR) with input constraint is proposed. The receding horizon algorithm, called generalized incremental predictive control (GIPC), utilizes both present and previous states rather than present states only. The GIPC algorithm includes the weighted difference of the current and the previous states and the summation of the control action increments. In order to illustrate the effectiveness of the proposed control strategy, it is implemented to the FJR and the results are compared with those of generalized predictive control (GPC). It is demonstrated that the proposed GIPC algorithm is more robust than the standard GPC method. Furthermore, the constrained GIPC algorithm using the quadratic programming removes instabilities caused by actuator saturation.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: ISA Transactions - Volume 48, Issue 3, July 2009, Pages 321-326
Journal: ISA Transactions - Volume 48, Issue 3, July 2009, Pages 321-326
نویسندگان
Nemat Ollah Ghahramani, Farzad Towhidkhah,