scholarly journals The study of model predictive control algorithm based on the force/position control scheme of the 5-DOF redundant actuation parallel robot

2016 ◽  
Vol 79 ◽  
pp. 12-25 ◽  
Author(s):  
Shuhuan Wen ◽  
Guiqian Qin ◽  
Baowei Zhang ◽  
H.K. Lam ◽  
Yongsheng Zhao ◽  
...  
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Control Algorithm ◽  
Position Control ◽  
Parallel Robot ◽  
Redundant Actuation ◽  
Control Scheme ◽  
Model Predictive Control Algorithm

scholarly journals An improved fuzzy model predictive control algorithm based on the force/position control structure of the five-degree of freedom redundant actuation parallel robot

2018 ◽  
Vol 15 (5) ◽  
pp. 172988141880497 ◽  
Author(s):  
Shuhuan Wen ◽  
Jianhua Chen ◽  
Guiqian Qin ◽  
Qiguang Zhu ◽  
Hongbin Wang
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Control Algorithm ◽  
Position Control ◽  
Sudden Change ◽  
Fuzzy Model ◽  
Good Control ◽  
Parallel Robot ◽  
Traditional Model ◽  
Model Predictive Control Algorithm

In this article, two new algorithms of the redundant force branch of 6-PUS/UPU parallel robot are proposed. They are model predictive control combining with proportional, integral, and differential algorithm and fuzzy combining with model predictive control algorithm. The shortcoming of the traditional model predictive control algorithm is complex adjustment, large amount of calculation, the dynamic performance effect of the system. The proposed PID model predictive control algorithm can make the controller parameters adjustment more convenient. However, PID model predictive control algorithm can’t obtain good control performance under sudden change in situation. Combining model predictive control algorithm with fuzzy theory, fuzzy model predictive control algorithm has better anti-interference ability than PID model predictive control algorithm and can reduce predictive horizon length as possible as it can. Simulation results show that fuzzy model predictive control algorithm can effectively improve real-time performance of control system, the dynamic tracking performance and robustness than the traditional model predictive control and PID model predictive control algorithm.

scholarly journals Reference Tracking using a Non-Cooperative Distributed Model Predictive Control Algorithm

2016 ◽  
Vol 49 (7) ◽  
pp. 1079-1084 ◽  
Author(s):  
Anca Maxim ◽  
Clara M. Ionescu ◽  
Constantin F. Caruntu ◽  
Corneliu Lazar ◽  
Robin De Keyser
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Control Algorithm ◽  
Distributed Model ◽  
Reference Tracking ◽  
Distributed Model Predictive Control ◽  
Model Predictive Control Algorithm
Sign in / Sign up

Export Citation Format

Share Document