datum: 23.3.2004 v 14:00
název: Predictive Control Algorithms Applied to Parallel Robot Structures
přednášející: Květoslav Belda (UTIA)
místo konání: UTIA, místnost č.474

souhrn: The seminar will focus on several possible variants of discrete Predictive control applied to the parallel robot structures. Absolute, incremental, and incremental algorithm with nonlinear simulative prediction will be discussed. All the algorithms use for prediction dynamical model based on Lagrange’s equations of mixed type. For control design, they are suitably transformed to ordinary differential equations, linearized and discretized to a form of statespace model.
Furthermore, on seminar, one possibility to use Predictive control for quadratically-optimal trajectory planning will be outlined. The algorithms will be illustrated by several simulations.