MANIPULATION
GENERALIZED PREDICTIVE CONTROL ON A ROBOTIC MANIPULATOR SYSTEM
Lee Chung Kwek, Alan W.C. Tan, Eng Kiong Wong
- Year
- 2013
- Citations
- 4
Abstract
The paper presents an improved generalized predictive control (GPC) scheme integrated with a disturbance compensation scheme based on iterative learning control (ILC) and real-time feedback control (RFC).
Keywords
Scheme (mathematics)Iterative learning controlModel predictive controlControl theory (sociology)Compensation (psychology)Computer scienceRobot manipulatorControl (management)Control engineeringManipulator (device)
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