Nonlinear Discrete-Time Control Approaches for Underactuated Manipulators

Nonlinear Model-Predictive Control of an Electro-Pneumatic Clutch for Truck Applications

“…In the proposed algorithm only one iteration is performed per time step. A similar approach using several iteration steps is described in Weidemann et al (2004).…”

Fast Nonlinear MPC for an Overhead Travelling Crane

“…In the proposed algorithm only one iteration is performed per time step. A similar approach using several iteration steps is described in Weidemann et al (2004). An improvement of the trajectory tracking behaviour can be achieved if an input vector resulting from an inverse system model is used as initial vector for the subsequent optimization step instead of the last input vector.…”

“…Consequently, a system-specific tradeoff has to be made for the choice of M and t s . This paper follows the moving horizon approach with a constant prediction horizon and, hence, a constant dimension M of the corresponding optimization problem in contrast to the shrinking horizon approach, see Weidemann et al (2004), Weidemann et al (2005).…”

Nonlinear Model Predictive Control of a Linear Axis Based on Pneumatic Muscles

“…Consequently, a system-specific trade-off has to be made for the choice of M and t s . This paper follows the moving horizon approach with a constant prediction horizon and, hence, a constant dimension m • M of the corresponding optimization problem in constrast to the shrinking horizon approach (Weidemann et al, 2004).…”