WSEAS Transactions on Systems and Control
Print ISSN: 1991-8763, E-ISSN: 2224-2856
Volume 11, 2016
Nonlinear Control of a Single-Link Flexible Joint Manipulator via Predictive Control
Authors: I. I. Siller-Alcalá, J. U. Liceaga-Castro, R. Alcántara-Ramírez, J. Jaimes-Ponce
Abstract: In this paper, a NCGPC (Nonlinear Continuous Time Generalized Predictive Control) is proposed for a single-link flexible joint manipulator. This control is developed by using a property of NCGPC, the demonstration that the selection of particular design parameters, such as control order and predictor order leads to well-known feedback linearization. Simulations are presented in order to illustrate the effectiveness of the approach.