P. Boucher

About

P. Boucher is a leading figure in nonlinear predictive control, with a focused expertise in the trajectory tracking of rigid link robot manipulators. His major contributions lie in developing computationally efficient, finite-horizon control laws that bypass the need for intensive online optimization. By employing Taylor-series approximations and state-variable feedback, Boucher created practical, real-time solutions for industrial systems demanding tighter performance specifications. His most-cited work, "FINITE HORIZON NONLINEAR PREDICTIVE CONTROL BY THE TAYLOR APPROXIMATION: APPLICATION TO ROBOT TRACKING TRAJECTORY" (2005, 40 citations), established a foundational method for directly incorporating process nonlinearities into the controller. This is complemented by his seminal papers on nonlinear receding-horizon control (2005, 30 citations) and feedback nonlinear predictive control (2002, 29 citations), which collectively provide a suite of robust control schemes that minimize a quadratic performance index of predicted tracking error and control effort. Boucher’s work is pivotal for students and researchers in robotics and automation, offering a bridge between theoretical optimal control and deployable, high-performance industrial applications.

Research Focus

Key Achievements

Top Papers

1. 1
   FINITE HORIZON NONLINEAR PREDICTIVE CONTROL BY THE TAYLOR APPROXIMATION: APPLICATION TO ROBOT TRACKING TRAJECTORY

   40 citations · 2005
2. 2
   Nonlinear Receding-Horizon Control of Rigid Link Robot Manipulators

   30 citations · 2005
3. 3
   Feedback nonlinear predictive control of rigid link robot manipulators

   29 citations · 2002

Key Collaborators

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