TY - GEN
T1 - Feedback-linearization-based Model Predictive Control for Multiple-DOFs Manipulators via Logarithm Sliding Mode
AU - Lu, Zhiying
AU - Liu, Xiyao
AU - Ma, Zhiqiang
AU - Ning, Zhaoke
AU - Dong, Hanlin
N1 - Publisher Copyright:
© 2024 IEEE.
PY - 2024
Y1 - 2024
N2 - In this paper, a new control approach for two degrees of freedom manipulators is proposed by combining the classical model predictive control scheme with a lgarithm sliding mode manifold. Firstly, we simplify the dynamic model of manipulators through logarithmic sliding mode and feedback linearization. After that, the simplified dynamic model is uesd for model predictive control. In order to show the suitability of the proposed control approach, a group of simulations and result analysis are provided.
AB - In this paper, a new control approach for two degrees of freedom manipulators is proposed by combining the classical model predictive control scheme with a lgarithm sliding mode manifold. Firstly, we simplify the dynamic model of manipulators through logarithmic sliding mode and feedback linearization. After that, the simplified dynamic model is uesd for model predictive control. In order to show the suitability of the proposed control approach, a group of simulations and result analysis are provided.
KW - lgarithm sliding mode control
KW - manipulators control
KW - model predictive control
UR - https://www.scopus.com/pages/publications/85200781423
U2 - 10.1109/YAC63405.2024.10598469
DO - 10.1109/YAC63405.2024.10598469
M3 - 会议稿件
AN - SCOPUS:85200781423
T3 - Proceedings - 2024 39th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2024
SP - 1661
EP - 1664
BT - Proceedings - 2024 39th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2024
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 39th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2024
Y2 - 7 June 2024 through 9 June 2024
ER -