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|Title:||Synthesis of bounded-input nonlinear predictive controller for multi-link flexible robots|
Ang Jr., M.H.
|Source:||Yang, H.,Krishnan, H.,Ang Jr., M.H. (1999). Synthesis of bounded-input nonlinear predictive controller for multi-link flexible robots. Proceedings - IEEE International Conference on Robotics and Automation 2 : 1108-1113. ScholarBank@NUS Repository.|
|Abstract:||Controller design for multi-link flexible robots taking into consideration control input constraints is presented in this paper. The control law is obtained as a solution that minimizes a certain performance index. A recent result on quadratic programming is used to synthesize the controller and the controller can be implemented on-line. The feedback controller guarantees that the control input constraints are not violated while joint-angle regulation and vibration damping are achieved. Local asymptotic stability of the closed-loop system is shown. Simulation results of a two-link flexible robot are presented in order to demonstrate the feasibility and good performance of the controller.|
|Source Title:||Proceedings - IEEE International Conference on Robotics and Automation|
|Appears in Collections:||Staff Publications|
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