@inproceedings{18ae055ac5884b8da4e67db4ed4eac53,
title = "Robust Nonlinear Model Predictive Control for Robot Manipulators with Disturbances",
abstract = "T0641. The robust NMPC algorithm is developed based on tube methodology. First, by making use of the upper-bound of the disturbances, the tube cross-sections are calculated to contain all possible states of the actual systems, which are centred on a nominal trajectory optimized online. We then use the tube cross-sections to tighten the constraints on the nominal predictions and design a tailored terminal region and a corresponding terminal controller. By implementing the proposed algorithm, robust constraint satisfaction and recursive feasibility are ensured even in the presence of disturbances. In addition, the perturbed closed-loop system is input-to-state stable (ISS) and converges asymptotically to a neighborhood of the reference trajectory.",
keywords = "Nonlinear model predictive control (NMPC), Robot manipulator, Robust control, Trajectory tracking",
author = "Yuantao Yu and Li Dai and Zhongqi Sun and Yuanqing Xia",
note = "Publisher Copyright: {\textcopyright} 2018 Technical Committee on Control Theory, Chinese Association of Automation.; 37th Chinese Control Conference, CCC 2018 ; Conference date: 25-07-2018 Through 27-07-2018",
year = "2018",
month = oct,
day = "5",
doi = "10.23919/ChiCC.2018.8483122",
language = "English",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "3629--3633",
editor = "Xin Chen and Qianchuan Zhao",
booktitle = "Proceedings of the 37th Chinese Control Conference, CCC 2018",
address = "United States",
}
