Optimal predictive control and its application to single link manipulator with non-linear flexible joint

Chieh Li Chen, Sy Hong Lin

Research output: Contribution to journalArticle

Abstract

This paper considers the control problem of a single link manipulator with a nonlinear flexible joint using the optimal predictive control technique. Based on the method of the model predictive control and the Taylor transformation technique, an optimal control law is synthesized for nonlinear systems. Both regulating and tracking control problem are considered. The results show that the proposed approach can be applied to control nonlinear systems effectively.

Original languageEnglish
Pages (from-to)109-126
Number of pages18
JournalSystems Analysis Modelling Simulation
Volume30
Issue number1-2
Publication statusPublished - 1998 Jan 1

All Science Journal Classification (ASJC) codes

  • Modelling and Simulation
  • Applied Mathematics

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