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Generalized Predictive Control for a Flexible Single-Link Manipulator

Abstract : This paper presents the development of a generalized predictive controller applied to a flexible single-link manipulator robot to compare to a fuzzy supervisory controller in input tracking and end-point vibration suppression. A dynamic model of the flexible manipulator is derived using finite elements method and Lagrange’s equations to determine dynamics behavior. A generalized predictive controller is then developed and introduced in the system closed-loop to minimize end-point residual vibrations. A fuzzy supervisory controller is also synthesized to compare simulation results between the two methods of control in terms of input tracking and disturbance rejection.
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Rahma Boucetta. Generalized Predictive Control for a Flexible Single-Link Manipulator. 12th International Conference on Information Systems and Industrial Management (CISIM), Sep 2013, Krakow, Poland. pp.499-510, ⟨10.1007/978-3-642-40925-7_46⟩. ⟨hal-01496095⟩

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