OTHER
Constrained model predictive control of the redundant cable robots
Ali Ghasemi, Mohammad Eghtesad, Mehrdad Farid
- Year
- 2008
- Citations
- 2
Abstract
This paper introduces a controller for cable robots with redundant cables under input constraints. The controller is based on input-output feedback linearization and linear model predictive control (LMPC). The effectiveness of the proposed method is illustrated by numerical simulation.
Keywords
Model predictive controlControl theory (sociology)LinearizationRobotFeedback linearizationComputer scienceController (irrigation)Control engineeringControl (management)Engineering
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