0491940 20240103220311.720180803235959.9 85071459456 10.5220/0006833500710080 10 s. C cav_un_epca*0491939978-989-758-321-62184-280971-80SetubalINSTICC, SCITEPRESS.2018MadaniKuroshGusikhinOleg Discrete Model Predictive Control Nonlinear Design Lagrange Equations Articulated Robots cav_un_auth*0101064 Belda Květoslav UTIA-B Adaptivní systémy Department of Adaptive Systems AS AS Department of Adaptive Systems Ústav teorie informace a automatizace AV ČR, v. v. i. http://library.utia.cas.cz/separaty/2018/AS/belda-0491940.pdf This paper introduces a specific nonlinear design of the discrete model predictive control based on the features of linear methods used for the numerical solution of ordinary differential equations. The design is intended for motion control of robotic or mechatronic systems that are usually described by nonlinear differential equations up to the second order. For the control design, the explicit linear multi-step methods are considered. The proposed way enables the design to apply nonlinear model to the construction of equations of predictions used in predictive control. An example of behavior of proposed versus linear predictive control is demonstrated by a comparative simulation with nonlinear mathematical model of six-axis articulated robot. cav_un_auth*0362835 International Conference on Informatics in Control, Automation and Robotics 20180728 20180731 Porto PT BC 20000 20300 20301 2019 1 PR RVO:67985556 http://hdl.handle.net/11104/0285674 S 2018 85071459456 SCOPUS PUBMED WOS cav_un_epca*0491939 ICINCO 2018 : Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics INSTICC, SCITEPRESS. 2018 Setubal 71 80 978-989-758-321-6 2184-2809 340 Madani Kurosh 340 Gusikhin Oleg