کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
712546 | 892154 | 2006 | 6 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
PREDICTIVE CONTROL OF AN UNDERACTUATED BRACHIATION ROBOT
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موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
مکانیک محاسباتی
پیش نمایش صفحه اول مقاله
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چکیده انگلیسی
This work is focused on the position control of an underactuated brachiation mobile robot with 3 links. We present the modeling of the dynamics of the robot and introduce the application of the nonlinear model-based predictive control (NMPC) to such a system. The robot has 3 revolute joints but only one of them is actuated, i. e., the robot has less control inputs than degrees of freedom. The investigation of the NMPC to control such a system is due to the fact that NMPC is able do deal with constraints (state or input limitations) in a direct way, obtaining an optimal control law. Simulation results are shown, as well as some directions for future developments.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: IFAC Proceedings Volumes - Volume 39, Issue 15, 2006, Pages 19–24
Journal: IFAC Proceedings Volumes - Volume 39, Issue 15, 2006, Pages 19–24
نویسندگان
Vinícius Menezes de Oliveira, Walter Fetter Lages,