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Application of predictive control techniques within parallel robot

Abstract : This paper addresses the position tracking control application of a parallel robot using predictive control techniques. A Generalized Predictive Control strategy (GPC), which considers the linear dynamic model, is used to enhance the tracking position accuracy. The robustification of GPC against measurement noise and neglected dynamics using Youla parameterization is performed. A simulation of the orthoglide robot considering uncertainties related to geometrical and dynamic parameters, sensors noise and frictions is performed on two different trajectories. Finally, it is compared the ro-bustified GPC controller with the classical Computed Torque Control (CTC). The robustified GPC controller shows a better performance for high accelerations and it also reduces the effect of the noise in the control signal of the parallel robot.
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Contributor : Josiane Dartron Connect in order to contact the contributor
Submitted on : Monday, October 29, 2012 - 4:50:08 PM
Last modification on : Tuesday, January 25, 2022 - 5:58:02 PM

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Fabian Andres Lara-Molina, João Maurício M. Rosário, Didier Dumur, Philippe Wenger. Application of predictive control techniques within parallel robot. Sba Controle & Automação, 2012, 23 (5), pp.530-540. ⟨10.1590/S0103-17592012000500002⟩. ⟨hal-00746797⟩



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