A comparison between gain-scheduling linear quadratic regulator and model predictive control for a manipulator with flexible components

Dynamic performance and energy efficiency can be improved by reducing the inertia of mechanical systems. However, the components of such a system may be flexible and, inevitably, subject to vibrations. Moreover, the relative motion between flexible components leads to time-varying boundary condition...

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Veröffentlicht in:	Proceedings of the Institution of Mechanical Engineers. Part I, Journal of systems and control engineering Journal of systems and control engineering, 2022-08, Vol.236 (7), p.1285-1293
Hauptverfasser:	Colombo, Fernanda Thaís, da Silva, Maíra Martins
Format:	Artikel
Sprache:	eng
Schlagworte:	Actuation Adaptive control Boundary conditions Cartesian coordinates Configurations Controllers Dynamic stability Flexible components Gain scheduling Linear quadratic regulator Manipulators Mechanical engineering Mechanical systems Predictive control Robot arms Robust control Systems stability
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