Abstract
This paper deals with an adaptive control scheme consisting of a feedback linearization and a model predictive controller (MPC) which is aimed at a real-time capable implementation. To overcome the incalculable effect of uncertainties on the control behaviour, an unscented Kalman Filter (UKF) is used to adapt the prediction model of the MPC online. Robustness properties are derived by a fuzzy-arithmetical analysis. The proposed control scheme is applied to a serial manipulator with a passive joint containing uncertain parameters.
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© 2016 CISM International Centre for Mechanical Sciences
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Schnelle, F., Eberhard, P. (2016). Adaptive Model Predictive Control Design for Underactuated Multibody Systems with Uncertain Parameters. In: Parenti-Castelli, V., Schiehlen, W. (eds) ROMANSY 21 - Robot Design, Dynamics and Control. ROMANSY21 2016. CISM International Centre for Mechanical Sciences, vol 569. Springer, Cham. https://doi.org/10.1007/978-3-319-33714-2_16
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DOI: https://doi.org/10.1007/978-3-319-33714-2_16
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