A New Approach to Model Predictive Control Based on Two Degrees of Freedom Control and B-Splines Input Shaping.
Leopoldo JettoValentina OrsiniRaffaele RomagnoliPublished in: IEEE Trans. Autom. Control. (2021)
Keyphrases
- degrees of freedom
- model predictive control
- b spline
- predictive control
- control system
- robotic arm
- end effector
- motion planning
- pose estimation
- robotic manipulator
- parallel manipulator
- control scheme
- articulated objects
- basis functions
- control strategy
- tensor product
- joint space
- mpc algorithm
- configuration space
- closed loop
- path planning
- control law
- control method
- control algorithm
- three dimensional
- position control
- multiple models
- least squares
- machine learning