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Model predictive heuristic control of a position servo system in robotics application

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3 Author(s)
Kaynak, O. ; Bogazici University, Bebek, Istanbul, Turkey ; Melancon, P. ; Rajagopalan, Venkatachari

A recently proposed method of control, namely model algorithmic control (MAC) or, equivalently, model predictive heuristic control (MPHC) is analyzed with a view to its implementation for the position control system. The formulation of the MPHC strategy to positional servo system is presented; both the regulators and the tracking problems are studied and the simulation and experimental results obtained indicate that the MPHC results in a good performance even under the conditions of large time-varying changes in the parameters of the system.

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Robotics and Automation, IEEE Journal of  (Volume:3 ,  Issue: 5 )