Sliding mode-based adaptive tube model predictive control for robotic manipulators with model uncertainty and state constraints

DOI10.1007/s11768-023-00174-7zbMath1524.93020MaRDI QIDQ6061920

Hong Qiao, Yang Liu, Erlong Kang

Publication date: 30 November 2023

Published in: Control Theory and Technology (Search for Journal in Brave)

zbMATH Keywords

sliding moderobotic manipulatormodel uncertaintytube-based model predictive controlnode-adaptive neural networks

Mathematics Subject Classification ID

Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85) Variable structure systems (93B12) Model predictive control (93B45)

Cites Work

• Stable hierarchical model predictive control using an inner loop reference model and \(\lambda\)-contractive terminal constraint sets
• Constrained model predictive control: Stability and optimality
• Adaptive sliding mode control for uncertain Euler-Lagrange systems with input saturation
• Efficient robust constrained model predictive control with a time varying terminal constraint set
• Nonlinear MPC with time-varying terminal cost for tracking unreachable periodic references
• Tube-Based Model Predictive Control Using Multidimensional Taylor Network for Nonlinear Time-Delay Systems
• High-order fully actuated system approaches: Part I. Models and basic procedure
• High-order fully actuated system approaches: Part II. Generalized strict-feedback systems

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