Cascaded NMPC for the Precise Position Control of a Pneumatic Actuator.
Ricus HusmannHarald AschemannPublished in: IECON (2021)
Keyphrases
- position control
- force control
- robot arm
- control system
- closed loop
- robot manipulators
- degrees of freedom
- control strategy
- control scheme
- nonlinear model predictive control
- dynamic model
- robotic manipulator
- control strategies
- pid control
- inverse kinematics
- control law
- end effector
- pid controller
- feedback loop
- control algorithm
- motion planning
- nonlinear systems
- fuzzy control
- control architecture
- contact force
- predictive control
- operating conditions
- mathematical model
- neural network