Picture of wind turbine against blue sky

Open Access research with a real impact...

The Strathprints institutional repository is a digital archive of University of Strathclyde research outputs.

The Energy Systems Research Unit (ESRU) within Strathclyde's Department of Mechanical and Aerospace Engineering is producing Open Access research that can help society deploy and optimise renewable energy systems, such as wind turbine technology.

Explore wind turbine research in Strathprints

Explore all of Strathclyde's Open Access research content

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.