Active Vibration Control of a Flexible Link Robot with MPC
Sprache des Vortragstitels:
4th IFAC Nonlinear Model Predictive Control Conference
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In this contribution a model predictive control (MPC) design for a three axes linear robot system with flexible links and fast dynamics is presented. An appropriate model reduction is done and in combinaton with a suboptimal linearization approach, an efficient implementation is developed. Furthermore, the paper draws a performance comparison concerning vibration suppression between the outlined MPC and a convential control strategy.