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

Robustness and disturbance rejection with application of linear MPC technique to industrial manipulators
File Size:
924.21 kB
Author:
Ali Benniran
Date:
15 August 2013
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Abstract: This paper studies an application of linear MPC and PID techniques to a 6-DOF industrial manipulator. Th e manipulator is IRp-6 made by ABB during 70s of last century. It is characterized by high gear ratios and joint linear friction. Th ese make the control task more convenient for PID. Th e 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.

Area: Mechanics, Automation and Robotics

BibTeX:

@article{Benniran2010,
  author = {Ali Benniran},
  title = {Robustness and disturbance rejection with application of linear MPC technique to industrial manipulators},
  journal = {Challenges of Modern Technology},
  year = {2010},
  volume = {1},
  number = {1},
  pages = {40-47},
  url = {http://www.journal.young-scientists.eu/index.php/isuues/file/127-robustness-and-disturbance-rejection-with-application-of-linear-mpc-technique-to-industrial-manipulators
}
 
 

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