{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,8,22]],"date-time":"2025-08-22T04:52:59Z","timestamp":1755838379828,"version":"3.41.2"},"reference-count":25,"publisher":"Emerald","issue":"3","license":[{"start":{"date-parts":[[2014,5,13]],"date-time":"2014-05-13T00:00:00Z","timestamp":1399939200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2014,5,13]]},"abstract":"<jats:sec>\n               <jats:title content-type=\"abstract-heading\">Purpose<\/jats:title>\n               <jats:p> \u2013 The purpose of this paper is to address the synthesis and experimental application of a generalized predictive control (GPC) technique on an Orthoglide robot. <\/jats:p>\n            <\/jats:sec>\n            <jats:sec>\n               <jats:title content-type=\"abstract-heading\">Design\/methodology\/approach<\/jats:title>\n               <jats:p> \u2013 The control strategy is composed of two control loops. The inner loop aims at linearizing the nonlinear robot dynamics using feedback linearization. The outer loop tracks the desired trajectory based on GPC strategy, which is robustified against measurement noise and neglected dynamics using Youla parameterization. <\/jats:p>\n            <\/jats:sec>\n            <jats:sec>\n               <jats:title content-type=\"abstract-heading\">Findings<\/jats:title>\n               <jats:p> \u2013 The experimental results show the benefits of the robustified predictive control strategy on the dynamical performance of the Orthoglide robot in terms of tracking accuracy, disturbance rejection, attenuation of noise acting on the control signal and parameter variation without increasing the computational complexity. <\/jats:p>\n            <\/jats:sec>\n            <jats:sec>\n               <jats:title content-type=\"abstract-heading\">Originality\/value<\/jats:title>\n               <jats:p> \u2013 The paper shows the implementation of the robustified predictive control strategy in real time with low computational complexity on the Orthoglide robot.<\/jats:p>\n            <\/jats:sec>","DOI":"10.1108\/ir-07-2013-374","type":"journal-article","created":{"date-parts":[[2014,7,10]],"date-time":"2014-07-10T10:31:14Z","timestamp":1404988274000},"page":"275-285","source":"Crossref","is-referenced-by-count":8,"title":["Robust generalized predictive control of the Orthoglide robot"],"prefix":"10.1108","volume":"41","author":[{"given":"Fabian","family":"Andres Lara-Molina","sequence":"first","affiliation":[]},{"given":"Jo\u00e3o","family":"Maur\u00edcio Ros\u00e1rio","sequence":"first","affiliation":[]},{"given":"Didier","family":"Dumur","sequence":"first","affiliation":[]},{"given":"Philippe","family":"Wenger","sequence":"first","affiliation":[]}],"member":"140","reference":[{"key":"key2020123121153857200_b1","doi-asserted-by":"crossref","unstructured":"Abdellatif, H.\n                and \n                  Heimann, B.\n                (2010), \u201cAdvanced model-based control of a 6-DOF Hexapod Robot: a case study\u201d, IEEE\/ASME Transactions on Mechatronics, Vol. 15 No. 2, pp. 269-279.","DOI":"10.1109\/TMECH.2009.2024682"},{"key":"key2020123121153857200_b2","doi-asserted-by":"crossref","unstructured":"Belda, K.\n               , \n                  B\u00f6hma, J.\n                and \n                  Val\u00e1\u0161ekb, M.\n                (2003), \u201cState-space generalized predictive control for redundant parallel robots\u201d, Mechanics Based Design of Structures and Machinesm, Vol. 31 No. 3, pp. 413-432.","DOI":"10.1081\/SME-120022857"},{"key":"key2020123121153857200_b3","unstructured":"Boucher, P.\n                and \n                  Dumur, D.\n                (1995), \u201cPredictive motion control\u201d, Journal of Systems Engineering, Vol. 5, pp. 148-162."},{"key":"key2020123121153857200_b4","unstructured":"Boucher, P.\n                and \n                  Dumur, D.D.\n                (2010), Predictive Control, in Analysis and Control of Linear Systems, ISTE, London."},{"key":"key2020123121153857200_b5","doi-asserted-by":"crossref","unstructured":"Chablat, D.\n                and \n                  Wenger, P.\n                (2003), \u201cArchitecture optimization of a 3-dof translational parallel mechanism for machining applications, the orthoglide\u201d, IEEE Transactions on Robotics and Automation, Vol. 13 No. 3, pp. 403-410.","DOI":"10.1109\/TRA.2003.810242"},{"key":"key2020123121153857200_b6","doi-asserted-by":"crossref","unstructured":"Clarke, D.\n               , \n                  Mohtadi, C.\n                and \n                  Tuffs, P.\n                (1987), \u201cGeneralized predictive control. part i. the basic algorithm\u201d, Automatica, Vol. 23 No. 2, pp. 137-148.","DOI":"10.1016\/0005-1098(87)90087-2"},{"key":"key2020123121153857200_b7","unstructured":"Dion, J.M.\n                and \n                  Popescu, D.\n                (1996), Commande Optimale. 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