Experiments on Stabilizing Receding Horizon Control of a Direct Drive Manipulator
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منابع مشابه
Experiments on Stabilizing Receding Horizon Control of a Direct Drive Manipulator
In this paper, the application of receding horizon control to a two-link direct drive robot arm is demonstrated. Instead of the terminal constraints, a terminal cost on receding horizon control is used to guarantee the stability, because of the computational demand. The key idea of this paper is to apply the receding horizon control with the terminal cost which is derived from the energy functi...
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ژورنال
عنوان ژورنال: IEEJ Transactions on Electronics, Information and Systems
سال: 2007
ISSN: 0385-4221,1348-8155
DOI: 10.1541/ieejeiss.127.748