Offset-free nonlinear model predictive control for improving dynamics of cable-driven parallel robots with on-board thrusters
Loïc Cuvillon, Miguel Arpa Perozo, Arda Yiğit, Sylvain Durand, Jacques Gangloff
Topics & Concepts
Control theory (sociology)Model predictive controlThrustOffset (computer science)EngineeringParallel manipulatorNonlinear systemTracking errorWinchControl engineeringRobotComputer scienceAerospace engineeringStructural engineeringPhysicsArtificial intelligenceProgramming languageQuantum mechanicsControl (management)Iterative Learning Control SystemsRobotic Mechanisms and DynamicsAdaptive Control of Nonlinear Systems