A Non-Linear Continuous-Time Generalized Predictive Control for a Planar Cable-Driven Parallel Robot

This paper addresses a novel nonlinear algorithm for the trajectory tracking of a planar cable-driven parallel robot. In particular, we outline a nonlinear continuous-time generalized predictive control (NCGPC). The proposed controller design is based on the finite horizon continuous-time minimizati...

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Principais autores:	Fouad Inel, Ali Medjbouri, Giuseppe Carbone
Formato:	Artigo
Idioma:	Inglês
Publicado em:	MDPI AG 2021-05-01
Colecção:	Actuators
Assuntos:	planar cable-driven parallel robot nonlinear models continuous-time generalized predictive control control robustness tracking performance
Acesso em linha:	https://www.mdpi.com/2076-0825/10/5/97
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