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Bibliography

Conference Paper (international conference)

Predictive and Anisotropic Control Design for Robot Motion under Stochastic Disturbances

Belda Květoslav, Tchaikovsky M.

: Proceedings of the 17th European Control Conference, p. 1374-1379

: European Control Conference 2019 /17./, (Naples, IT, 20190625)

: TN01000024, GA TA ČR

: Predictive Control, Anisotropic Control, Motion Control, Stochastic Disturbances

: 10.23919/ECC.2019.8795702

: http://library.utia.cas.cz/separaty/2019/AS/belda-0506011.pdf

(eng): The paper deals with the design and comparison of model-based predictive control and anisotropic control formulated for the motion control of industrial robots-manipulators. Stochastic disturbances, usually occurring and entering a control process, are taken into account in the design to attenuate their undesirable influences. The explanation refers a specific online control parameter tuning for predictive control and introduces a single-pass offline optimization for anisotropic control. The aim is to point out features of the proposed advanced approaches in transition situations.

: BC

: 20204