This repository includes the MATLAB Simulink simulation files for the paper "Model Predictive Control Based on the Generalized Bouc-Wen Model for PiezoelectricActuators in Robotic Hand WithOnly Position Measurements"
Requirments: matlab 2017b or higher
Steps to run the simulation:
- Run the file: piezo_main.m
- Run PiezoMPC2_17.slx simulation
Whenever you change the system parameters shown in the paper, please retune the control gains to get robustness against exogenous disturbances.
To cite this work please use:
@article{MPC2022_Bouc-Wen,
author={Gerardo Flores and Micky Rakotondrabe},
journal={IEEE Control Systems Letters},
title={Model Predictive Control Based on the Generalized Bouc-Wen Model for Piezoelectric Actuators in Robotic Hand With Only Position Measurements},
year={2022},
volume={6},
number={},
pages={2186--2191},
doi={10.1109/LCSYS.2021.3136456}
}