Active Vibration Control of a Flexible Link Robot with MPC

  • Klemens Springer (Speaker)

Activity: Talk or presentation › Poster presentation › unknown

Description

In this contribution a model predictive control (MPC) design for a three axes linear robot system with flexible links and fast dynamics is presented. An appropriate model reduction is done and in combinaton with a suboptimal linearization approach, an efficient implementation is developed. Furthermore, the paper draws a performance comparison concerning vibration suppression between the outlined MPC and a convential control strategy.
Period24 Aug 2012
Event title4th IFAC Nonlinear Model Predictive Control Conference
Event typeConference
LocationNetherlandsShow on map

Fields of science

  • 202035 Robotics
  • 203022 Technical mechanics
  • 203013 Mechanical engineering
  • 203015 Mechatronics

JKU Focus areas

  • Mechatronics and Information Processing