Robustness and disturbance rejection with application of linear MPC technique to industrial manipulators

• Autorzy: Benniran A.
• Języki publikacji: EN

Abstrakty

EN

This paper studies an application of linear MPC and PID techniques to a 6-DOF industrial manipulator. The manipulator is IRp-6 made by ABB during 70s of last century. It is characterized by high gear ratios and joint linear friction. These make the control task more convenient for PID. The robustness and stability against model un-certainty were examined. Also, the effi ciency of both techniques against noise rejection was checked by adding a white Gaussian noise. Results of simulation prove the advantages of MPC technique to PID in robustness and noise rejection.

Słowa kluczowe

EN

linear MPC; PID techniques

• Wydawca: Foundation for Young Scientists
• Czasopismo: Challenges of Modern Technology
• Rocznik: 2010
• Tom: Vol. 1, no. 1
• Strony: 40--47
• Opis fizyczny: Bibliogr. 17 poz., tab., wykr., rys.

Twórcy

autor

Benniran A.

• Warsaw University of Technology, Faculty of Electronics and Information Technologies

Bibliografia

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