0477603 20240103214445.720170906235959.9 85035352997 000425229300125 10.1109/MMAR.2017.8046912 6 s. C cav_un_epca*0477597978-1-5386-2403-6694-699SzczecinWest Pomeranian University of Technology2017 Model predictive control Bounded noise State estimation Noise parameter estimation linear programming cav_un_auth*0101064 Adaptivní systémy Department of Adaptive Systems AS AS Department of Adaptive Systems 50 Belda Květoslav UTIA-B Ústav teorie informace a automatizace AV ČR, v. v. i. cav_un_auth*0101175 Adaptivní systémy Department of Adaptive Systems AS AS Department of Adaptive Systems 50 Pavelková Lenka UTIA-B Ústav teorie informace a automatizace AV ČR, v. v. i. http://library.utia.cas.cz/separaty/2017/AS/belda-0477603.pdf This paper deals with a discrete predictive control design for motion control of robotic systems. The design considers time-varying state-space robot model. It is assumed that used robot state has to be estimated from measured robot outputs. These outputs represent controlled quantities including a bounded noise. Considering this arrangement, the paper introduces a novel solution to the state and noise parameter estimations based on linear programming that is incorporated in the control design. Estimated states are utilised for updating state-dependent elements in the robot model and for control design itself. Estimated noise parameters are employed in advanced tuning of control parameters, namely penalisation matrices. The proposed theoretical outcomes are demonstrated on one multi-input multi-output robot-manipulator as a specific representative of robotic systems. cav_un_auth*0349323 22nd IEEE International Conference on Methods and Models in Automation and Robotics 20170828 20170831 Miedzyzdroje PL BC 20000 20200 20205 2018 2 PR RVO:67985556 http://hdl.handle.net/11104/0274233 S n.a. Proceedings Paper Automation Control Systems|Robotics 2017 85035352997 SCOPUS PUBMED 000425229300125 WOS cav_un_epca*0477597 Proceedings of the 22nd IEEE International Conference on Methods and Models in Automation and Robotics 978-1-5386-2403-6 694 699 Szczecin West Pomeranian University of Technology 2017