Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
712546 | IFAC Proceedings Volumes | 2006 | 6 Pages |
Abstract
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.
Related Topics
Physical Sciences and Engineering
Engineering
Computational Mechanics
Authors
Vinícius Menezes de Oliveira, Walter Fetter Lages,