dc.creatorRojas-Moreno, Arturo
dc.creatorValdivia-Mallqui, Richard
dc.date.accessioned2017-11-28T12:02:19Z
dc.date.available2017-11-28T12:02:19Z
dc.date.created2017-11-28T12:02:19Z
dc.date.issued2013-11
dc.identifierhttps://hdl.handle.net/20.500.12815/43
dc.identifierhttps://doi.org/10.1109/ICAR.2013.6766581
dc.identifier2013 16th International Conference on Advanced Robotics (ICAR)
dc.description.abstractThis paper deals with the implementation of a embedded position control system using a robust nonlinear predictive controller, which is employed to control simultaneously angular positions of the base and arm of an angular manipulator of 2DOF (2 Degrees of Freedom). The design of such control system requires the derivation of the dynamic nonlinear model of the manipulator, as well as the determination of the corresponding predictive control law. Intensive simulation studies permitted to find out the initial values of the tuning parameters of the predictive controller. A CRIO (Compact Reconfigurable Input/Output) device was used to embed the control system. Good performance of the predictive control system was verified via experimentation.
dc.languageeng
dc.publisherInstitute of Electrical and Electronics Engineers
dc.rightshttp://creativecommons.org/licenses/by-nc-nd/4.0/
dc.rightsinfo:eu-repo/semantics/openAccess
dc.sourceRepositorio Institucional UTEC
dc.sourceUniversidad de Ingeniería y Tecnología - UTEC
dc.subjectMathematical model
dc.subjectManipulator dynamics
dc.subjectUncertainty
dc.subjectVectors
dc.subjectRobustness
dc.subjectPredictive control
dc.titleEmbedded position control system of a manipulator using a robust nonlinear predictive control
dc.typeinfo:eu-repo/semantics/article


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