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Published at November 21

Data-Driven Multi-step Nonlinear Model Predictive Control for Industrial Heavy Load Hydraulic Robot

cs.RO

Released Date: November 21, 2024

Authors: Dexian Ma¹, Bo Zhou¹

Aff.: ¹Not specified

Arxiv: http://arxiv.org/abs/2411.13859v1

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Trajectory	${q}_{swing}$		${q}_{boom}$		${q}_{arm}$
Trajectory	DBN [24]	Ours	DBN [24]	Ours	DBN [24]	Ours
$Low1$	2.96e-4	2.34e-4	1.38e-4	5.67e-5	3.04e-4	1.79e-4
$Low2$	4.61e-4	2.74e-4	1.54e-4	3.83e-5	1.32e-3	2.99e-4
s $Medium1$	3.54e-4	1.75e-4	2.71e-4	7.47e-5	1.58e-3	3.96e-4
$Medium2$	2.98e-4	1.74e-4	1.48e-4	3.36e-5	1.95e-3	5.40e-4
$High1$	4.51e-4	2.72e-4	1.33e-4	4.98e-5	6.33e-4	1.74e-4
$High2$	4.27e-4	2.57e-4	1.24e-4	4.37e-5	6.47e-4	2.31e-4