0543771 20250123094151.820210714235959.9 85111762618 000818932400066 10.5220/0010557705740582 9 s. E cav_un_epca*0543770978-989-758-522-72184-2809574-582SetúbalScitepress2021GusikhinO.NijmeijerH.MadaniK. model predictive control output-feedback control robot manipulator state estimation Bayes methods bounded uncertainty cav_un_auth*0382598 Kuklišová Pavelková Lenka UTIA-B Adaptivní systémy Department of Adaptive Systems AS AS Department of Adaptive Systems CZ Ústav teorie informace a automatizace AV ČR, v. v. i. 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/2021/AS/kuklisova-0543771.pdf The paper presents an output-feedback model predictive control applied to the motion control of a dynamic model of a parallel kinematic machine. The controlled system is described by a stochastic linear discrete-time model with bounded disturbances. An approximate uniform Bayesian filter provides set state estimates. The choice of the specific point estimate from this set is a part of the optimization. The cost function includes penalties on the tracking error and the actuation effort respecting increments. Illustrative examples show the effectiveness of the proposed approach and provide a comparison with previous results. cav_un_auth*0411344 International Conference on Informatics in Control, Automation and Robotics 2021 /18./ 20210706 20210708 Setúbal (online) PT BC 10000 10200 10201 2022 2 4 A sml 4as 20231122145824.2 PR RVO:67985556 http://hdl.handle.net/11104/0321662 S CONSENT TO PUBLISH and COPYRIGHT TRANSFER 20210503 5 16.67 2021 Soubory v repozitáři: kuklisova-0543771-copyright-ICINCO21.pdf 85111762618 SCOPUS PUBMED 000818932400066 WOS cav_un_epca*0543770 Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics Scitepress 2021 Setúbal 574 582 978-989-758-522-7 2184-2809 Gusikhin O. 340 Nijmeijer H. 340 Madani K. 340