Picture of two heads

Open Access research that challenges the mind...

The Strathprints institutional repository is a digital archive of University of Strathclyde research outputs. Strathprints provides access to thousands of Open Access research papers by University of Strathclyde researchers, including those from the School of Psychological Sciences & Health - but also papers by researchers based within the Faculties of Science, Engineering, Humanities & Social Sciences, and from the Strathclyde Business School.

Discover more...

Non-linear predictive control for manufacturing and robotic applications

Grimble, M.J. and Ordys, A.W. (2001) Non-linear predictive control for manufacturing and robotic applications. In: Proceedings of the International Symposium on Methods and Models in Automation and Robotics. Uczelniane Politechniki Szczecińskiej, Miedzyzdroje, Poland. ISBN 9788388764752

[img]
Preview
PDF (Non-linear predictive control for manufacturing and robotic applications)
Predictive_Control_Plenary_Ordys_MJG.pdf - Preprint

Download (573kB) | Preview

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.