0411074 20240111140636.120060210235959.9 80-227-1902-1 Bratislava Slovak University of Technology 2003 CD-ROM 1-7MiklešJ.DvoranJ.FikarM. redundancy PID/PSD control predicitve control cav_un_auth*0101070 Böhm Josef UTIA-B Ústav teorie informace a automatizace AV ČR, v. v. i. cav_un_auth*0101064 Belda Květoslav UTIA-B Department of Adaptive Systems Ústav teorie informace a automatizace AV ČR, v. v. i. cav_un_auth*0021075 Valášek M. CZ http://library.utia.cas.cz/separaty/historie/bohm-0411074.pdf 436 kB 09I GA101/03/0620 GA ČR cav_un_auth*0003705 CEZ:AV0Z1075907 One of the trends in robotics is a study of parallel structures, over-actuated, drive-redundant systems, and their control. The simplest, decentralized control approach considered means taking the robots as a set of single input-output systems (setSISO). As an alternative is i.e. model-based centralized Generalized Predictive Control (GPC). It pursues global control design corresponding with actual requirement to robot movement. The paper presents the square-root GPC in both absolute and incremental form. cav_un_auth*0213024 International Conference on Process Control 2003 /14./ Štrbské pleso SK 08.06.2003-11.06.2003 BC AS http://hdl.handle.net/11104/0131161 UTIA-B 20030061 2003 2003 Bratislava Slovak University of Technology 80-227-1902-1 436 kB Proceedings of the 14th International Conference on Process Control 2003 1 7 Mikleš J. 340 Dvoran J. 340 Fikar M. 340