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Practical and robust incremental model predictive control for flexible-joint robots

delete2025-06-26
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OA
AI
Y
Yongchao Wang
T
Tian Zheng
M
Maged Iskandar
M
Marion Leibold
J
Jinoh Lee
DOI：10.1016/j.mechatronics.2025.103364delete
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Abstract

Abstract

En 中文
• Improving Robustness and Computational Efficiency. • Considering Physical Constraints in Low-Level Control. • Avoiding High-Order Derivatives in Computation of the Controller.
Keywords:
Flexible joint
Model predictive control
Time-delay estimation
Optimization-based control

Journal

Mechatronics cover
Mechatronics
IF:
3.1
Papers:
2.9K
Citations:
5.7K

Organization

No organization information available