%0 Conference Proceedings
%T Generalized Predictive Control for a Flexible Single-Link Manipulator
%+ Control and Energy Management Laboratory (CEM Lab), Sfax Engineering School
%A Boucetta, Rahma
%Z Part 8: Industrial Applications
%< avec comité de lecture
%( Lecture Notes in Computer Science
%B 12th International Conference on Information Systems and Industrial Management (CISIM)
%C Krakow, Poland
%Y Khalid Saeed
%Y Rituparna Chaki
%Y Agostino Cortesi
%Y Sławomir Wierzchoń
%I Springer
%3 Computer Information Systems and Industrial Management
%V LNCS-8104
%P 499-510
%8 2013-09-25
%D 2013
%R 10.1007/978-3-642-40925-7_46
%K Flexible manipulator robot
%K dynamic model
%K generalized predictive control
%K fuzzy supervisory control
%Z Computer Science [cs]
%Z Humanities and Social Sciences/Library and information sciencesConference papers
%X 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.
%G English
%Z TC 8
%2 https://inria.hal.science/hal-01496095/document
%2 https://inria.hal.science/hal-01496095/file/978-3-642-40925-7_46_Chapter.pdf
%L hal-01496095
%U https://inria.hal.science/hal-01496095
%~ SHS
%~ IFIP-LNCS
%~ IFIP
%~ IFIP-TC
%~ IFIP-TC8
%~ IFIP-CISIM
%~ IFIP-LNCS-8104