Trajectory tracking in an underactuated, non-minimum phase two-link multibody system through model predictive control with embedded reference dynamics
Jason Bettega, Dario Richiedei
Topics & Concepts
Control theory (sociology)UnderactuationModel predictive controlTrajectoryFeed forwardIntegratorComputer scienceTracking errorTracking (education)Reference modelController (irrigation)Multibody systemControl engineeringEngineeringControl (management)Artificial intelligenceBandwidth (computing)Computer networkSoftware engineeringPhysicsQuantum mechanicsPsychologyBiologyAstronomyPedagogyAgronomyDynamics and Control of Mechanical SystemsHydraulic and Pneumatic SystemsIterative Learning Control Systems