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In many cases of new actuation of compliant controlled or bio-inspired joint driven robot, a global identification of electrical and mechanical coupled dynamics is required. This paper proposes a technique which mixes a closed loop output error method with the inverse dynamic identification model method which allows using linear least-squares technique to estimate the parameters. A first approach...
Model predictive control (MPC) is a newly developed control algorithm which can realize the optimal by the state predict and optimal control with lest control errors and smallest control cost. MPC is widely applied in process control systems. In this paper, the MPC algorithm is realized in motor control system instead of the traditional PI regulators. The proposed MPC controller is generic and can...
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