Embedded position control system of a manipulator using a robust nonlinear predictive control

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This paper deals with the implementation of a embedded position control system using a robust nonlinear predictive controller, which is employed to control simultaneously angular positions of the base and arm of an angular manipulator of 2DOF (2 Degrees of Freedom). The design of such control system...

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Detalles Bibliográficos
Autores: Rojas-Moreno, Arturo, Valdivia-Mallqui, Richard
Formato: artículo
Fecha de Publicación:2013
Institución:Universidad de Ingeniería y tecnología
Repositorio:UTEC-Institucional
Lenguaje:inglés
OAI Identifier:oai:repositorio.utec.edu.pe:20.500.12815/43
Enlace del recurso:https://hdl.handle.net/20.500.12815/43
https://doi.org/10.1109/ICAR.2013.6766581
Nivel de acceso:acceso abierto
Materia:Mathematical model
Manipulator dynamics
Uncertainty
Vectors
Robustness
Predictive control
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dc.title.es_PE.fl_str_mv Embedded position control system of a manipulator using a robust nonlinear predictive control
title Embedded position control system of a manipulator using a robust nonlinear predictive control
spellingShingle Embedded position control system of a manipulator using a robust nonlinear predictive control
Rojas-Moreno, Arturo
Mathematical model
Manipulator dynamics
Uncertainty
Vectors
Robustness
Predictive control
title_short Embedded position control system of a manipulator using a robust nonlinear predictive control
title_full Embedded position control system of a manipulator using a robust nonlinear predictive control
title_fullStr Embedded position control system of a manipulator using a robust nonlinear predictive control
title_full_unstemmed Embedded position control system of a manipulator using a robust nonlinear predictive control
title_sort Embedded position control system of a manipulator using a robust nonlinear predictive control
author Rojas-Moreno, Arturo
author_facet Rojas-Moreno, Arturo
Valdivia-Mallqui, Richard
author_role author
author2 Valdivia-Mallqui, Richard
author2_role author
dc.contributor.author.fl_str_mv Rojas-Moreno, Arturo
Valdivia-Mallqui, Richard
dc.subject.es_PE.fl_str_mv Mathematical model
Manipulator dynamics
Uncertainty
Vectors
Robustness
Predictive control
topic Mathematical model
Manipulator dynamics
Uncertainty
Vectors
Robustness
Predictive control
description This paper deals with the implementation of a embedded position control system using a robust nonlinear predictive controller, which is employed to control simultaneously angular positions of the base and arm of an angular manipulator of 2DOF (2 Degrees of Freedom). The design of such control system requires the derivation of the dynamic nonlinear model of the manipulator, as well as the determination of the corresponding predictive control law. Intensive simulation studies permitted to find out the initial values of the tuning parameters of the predictive controller. A CRIO (Compact Reconfigurable Input/Output) device was used to embed the control system. Good performance of the predictive control system was verified via experimentation.
publishDate 2013
dc.date.accessioned.none.fl_str_mv 2017-11-28T12:02:19Z
dc.date.available.none.fl_str_mv 2017-11-28T12:02:19Z
dc.date.issued.fl_str_mv 2013-11
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dc.identifier.uri.none.fl_str_mv https://hdl.handle.net/20.500.12815/43
dc.identifier.doi.es_PE.fl_str_mv https://doi.org/10.1109/ICAR.2013.6766581
dc.identifier.journal.es_PE.fl_str_mv 2013 16th International Conference on Advanced Robotics (ICAR)
url https://hdl.handle.net/20.500.12815/43
https://doi.org/10.1109/ICAR.2013.6766581
identifier_str_mv 2013 16th International Conference on Advanced Robotics (ICAR)
dc.language.iso.es_PE.fl_str_mv eng
language eng
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dc.publisher.es_PE.fl_str_mv Institute of Electrical and Electronics Engineers
dc.source.es_PE.fl_str_mv Repositorio Institucional UTEC
Universidad de Ingeniería y Tecnología - UTEC
dc.source.none.fl_str_mv reponame:UTEC-Institucional
instname:Universidad de Ingeniería y tecnología
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spelling Rojas-Moreno, ArturoValdivia-Mallqui, Richard2017-11-28T12:02:19Z2017-11-28T12:02:19Z2013-11https://hdl.handle.net/20.500.12815/43https://doi.org/10.1109/ICAR.2013.67665812013 16th International Conference on Advanced Robotics (ICAR)This paper deals with the implementation of a embedded position control system using a robust nonlinear predictive controller, which is employed to control simultaneously angular positions of the base and arm of an angular manipulator of 2DOF (2 Degrees of Freedom). The design of such control system requires the derivation of the dynamic nonlinear model of the manipulator, as well as the determination of the corresponding predictive control law. Intensive simulation studies permitted to find out the initial values of the tuning parameters of the predictive controller. A CRIO (Compact Reconfigurable Input/Output) device was used to embed the control system. 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Embedded position control system of a manipulator using a robust nonlinear predictive control
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