A Novel Model Predictive Control Scheme Based on an Improved Newton Algorithm

Xin Luo; Zhibin Li; Long Jin; Shuai Li

doi:10.1007/978-981-99-5766-8_2

A Novel Model Predictive Control Scheme Based on an Improved Newton Algorithm

Xin Luo, Zhibin Li, Long Jin, Shuai Li

BA56 Cognitive production industry

Research output: Chapter in Book/Report/Conference proceeding › Chapter or book article › Scientific › peer-review

Abstract

This chapter proposes a Model Predictive Control (MPC) scheme for robot trajectory tracking, which can optimize tracking error, velocity norm and acceleration norm. The research background of this work is discussed in Sect. 2.1, Sect. 2.2 gives the problem description, Sect. 2.3 provides the theoretical verifications, the simulation results are presented in Sect. 2.4. Lastly, the conclusions are summarized in Sect. 2.5.

Original language	English
Title of host publication	Robot Control and Calibration
Subtitle of host publication	Innovative Control Schemes and Calibration Algorithms
Publisher	Springer
Pages	11-32
Number of pages	22
ISBN (Electronic)	978-981-99-5766-8
ISBN (Print)	978-981-99-5765-1
DOIs	https://doi.org/10.1007/978-981-99-5766-8_2
Publication status	Published - 2023
MoE publication type	A3 Part of a book or another research book

Publication series

Series	SpringerBriefs in Computer Science
Volume	Part F1465
ISSN	2191-5768

Keywords

Acceleration norm
Error-Summation-Enhanced Newton Algorithm
Model predictive control scheme
Tracking error
Velocity norm

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10.1007/978-981-99-5766-8_2

Cite this

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abstract = "This chapter proposes a Model Predictive Control (MPC) scheme for robot trajectory tracking, which can optimize tracking error, velocity norm and acceleration norm. The research background of this work is discussed in Sect. 2.1, Sect. 2.2 gives the problem description, Sect. 2.3 provides the theoretical verifications, the simulation results are presented in Sect. 2.4. Lastly, the conclusions are summarized in Sect. 2.5.",

keywords = "Acceleration norm, Error-Summation-Enhanced Newton Algorithm, Model predictive control scheme, Tracking error, Velocity norm",

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A Novel Model Predictive Control Scheme Based on an Improved Newton Algorithm. / Luo, Xin; Li, Zhibin; Jin, Long et al.
Robot Control and Calibration: Innovative Control Schemes and Calibration Algorithms. Springer, 2023. p. 11-32 (SpringerBriefs in Computer Science, Vol. Part F1465).

Research output: Chapter in Book/Report/Conference proceeding › Chapter or book article › Scientific › peer-review

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A Novel Model Predictive Control Scheme Based on an Improved Newton Algorithm

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