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Bibliography

Conference Paper (international conference)

Output-feedback MPC for Robotic Systems under Bounded Noise

Kuklišová Pavelková Lenka, Belda Květoslav

: Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics, p. 574-582 , Eds: Gusikhin O., Nijmeijer H., Madani K.

: International Conference on Informatics in Control, Automation and Robotics 2021 /18./, (Setúbal (online), PT, 20210706)

: model predictive control, output-feedback control, robot manipulator, state estimation, Bayes methods, bounded uncertainty

: 10.5220/0010557705740582

: http://library.utia.cas.cz/separaty/2021/AS/kuklisova-0543771.pdf

(eng): The paper presents an output-feedback model predictive control applied to the motion control of a dynamic model of a parallel kinematic machine. The controlled system is described by a stochastic linear discrete-time model with bounded disturbances. An approximate uniform Bayesian filter provides set state estimates. The choice of the specific point estimate from this set is a part of the optimization. The cost function includes penalties on the tracking error and the actuation effort respecting increments. Illustrative examples show the effectiveness of the proposed approach and provide a comparison with previous results.

: BC

: 10201

2019-01-07 08:39