I. I. Siller-Alcalá, J. U. Liceaga-Castro, R. Alcántara-Ramírez, J. Jaimes-Ponce, "Nonlinear Control of a Single-Link Flexible Joint Manipulator via Predictive Control," WSEAS Transactions on Systems and Control, vol. 11, pp. 371-375, 2016, DOI:
I. I. Siller-Alcalá, J. U. Liceaga-Castro, R. Alcántara-Ramírez, J. Jaimes-Ponce. Nonlinear Control of a Single-Link Flexible Joint Manipulator via Predictive Control.
WSEAS Transactions on Systems and Control. 2016;11:371-375.
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: , , ,
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.
Pages: 371-375 WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 11, 2016, Art. #40 DOI: *As the DOI is a unique identifier, it is already available in the pdf version.
**The DOI link will be activated in the first midst of January 2026.
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