Non-linear predictive control for manufacturing and robotic applications

M.J. Grimble, A.W. Ordys

Research output: Chapter in Book/Report/Conference proceedingConference contribution book

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The paper discusses predictive control algorithms in the context of applications to robotics and manufacturing systems. Special features of such systems, as compared to traditional process control applications, require that the algorithms are capable of dealing with faster dynamics, more significant unstabilities and more significant contribution of non-linearities to the system performance. The paper presents the general framework for state-space design of predictive algorithms. Linear algorithms are introduced first, then, the attention moves to non-linear systems. Methods of predictive control are presented which are based on the state-dependent state space system description. Those are illustrated on examples of rather difficult mechanical systems.
Original languageEnglish
Title of host publicationProceedings of the International Symposium on Methods and Models in Automation and Robotics
Place of PublicationMiedzyzdroje, Poland
Number of pages14
Publication statusPublished - 2001
Event7th International Conference on Methods and Models in Automation and Robotics - Miedzyzdroje, Poland
Duration: 20 Aug 200121 Aug 2001


Conference7th International Conference on Methods and Models in Automation and Robotics


  • non-linear predictive control
  • manufacturing
  • robot
  • robotic applications

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