Bibliography
Conference Paper (international conference)
Predictive and Anisotropic Control Design for Robot Motion under Stochastic Disturbances
,
: 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
: 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