Linearizing Robotic Manipulator's Dynamics Using Koopman Operator and Applying Generalized Predictive Control.

Shohei Hagane Lorenzo Jamone Gentiane Venture

Published in: SII (2023)

Keyphrases

predictive control
robotic manipulator
control scheme
dynamic model
multiple models
closed loop
control law
control system
control strategy
robot manipulators
pid controller
fuzzy controller
neuro fuzzy
dynamical systems
experimental data
highly nonlinear
control algorithm
ensemble methods
fuzzy logic
mobile robot