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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

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    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.

    Item type: Book Section
    ID code: 38633
    Keywords: non-linear predictive control, manufacturing, robot, robotic applications, Electrical engineering. Electronics Nuclear engineering, Industrial and Manufacturing Engineering
    Subjects: Technology > Electrical engineering. Electronics Nuclear engineering
    Department: Faculty of Engineering > Electronic and Electrical Engineering
    Related URLs:
    Depositing user: Pure Administrator
    Date Deposited: 22 Mar 2012 13:58
    Last modified: 06 Sep 2014 13:23
    URI: http://strathprints.strath.ac.uk/id/eprint/38633

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