Hierarchical multiloop MPC scheme for robot manipulators with nonlinear disturbance observer

DOI10.3934/mbe.2022588OpenAlexW4293439784MaRDI QIDQ2694090

Xingjia Li, Jinan Gu, Shixi Tang, Zedong Huang, Chen Ji

Publication date: 28 March 2023

Published in: Mathematical Biosciences and Engineering (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.3934/mbe.2022588

zbMATH Keywords

trajectory trackingmodel predictive control (MPC)inverse dynamicsnonlinear disturbance observer (NDO)hierarchical multiloop MPC scheme

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Hierarchical systems (93A13) Model predictive control (93B45) Observers (93B53)

Related Items (1)

Inverse-dynamics- and disturbance-observer-based tube model predictive tracking control of uncertain robotic manipulator

Cites Work

• A method for robotic grasping based on improved Gaussian mixture model
• A new fractional-order hyperchaotic memristor oscillator: dynamic analysis, robust adaptive synchronization, and its application to voice encryption
• A financial hyperchaotic system with coexisting attractors: dynamic investigation, entropy analysis, control and synchronization
• Model predictive control: recent developments and future promise
• Robust MPC for disturbed nonlinear discrete-time systems via a composite self-triggered scheme

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