Skip to Main content Skip to Navigation
New interface
Conference papers

A New Fast NMPC Scheme for Parallel Kinematic Manipulators: Design and Real-Time Experiments

Rihab Kouki 1 Ahmed Chemori 2 Faouzi Bouani 1 
2 DEXTER - Robotique médicale et mécanismes parallèles
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : This paper adresses the design of a new extension of fast nonlinear model predictive control (NMPC) for parallel manipulators. The developed controller is based on a parame-terized NMPC, a fast gradient solver and a proportional derived controller (PD). The main motivation behind the proposed approach is to improve the tracking performance of fast parallel manipulators and reduce the computation time per control iteration. This control scheme is faster, in terms of computing time, than the classical NMPC and ensures the robustness of the resulting closed-loop system. To demonstrate the effectiveness of the proposed controller, real time experiments are performed on a 4-DOF parallel kinematic manipulator called VELOCE.
Document type :
Conference papers
Complete list of metadata

Cited literature [19 references]  Display  Hide  Download
Contributor : Ahmed Chemori Connect in order to contact the contributor
Submitted on : Thursday, January 2, 2020 - 9:15:31 AM
Last modification on : Friday, August 5, 2022 - 3:03:30 PM


Files produced by the author(s)




Rihab Kouki, Ahmed Chemori, Faouzi Bouani. A New Fast NMPC Scheme for Parallel Kinematic Manipulators: Design and Real-Time Experiments. SCC 2019 - 1st IEEE International Conference on Signal, Control and Communication, Dec 2019, Hammamet, Tunisia. pp.69-75, ⟨10.1109/SCC47175.2019.9116179⟩. ⟨lirmm-02426278⟩



Record views


Files downloads