Successive linearization based model predictive control of variable stiffness actuated robots. Zhakatayev, A., Rakhim, B., Adiyatov, O., Baimyshev, A., & Varol, H. A. In *2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)*, pages 1774-1779, July, 2017. doi bibtex @INPROCEEDINGS{zhakatayev2017successive,
author={A. Zhakatayev and B. Rakhim and O. Adiyatov and A. Baimyshev and H. A. Varol},
booktitle={2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)},
title={Successive linearization based model predictive control of variable stiffness actuated robots},
year={2017},
volume={},
number={},
pages={1774-1779},
keywords={actuators;control system synthesis;discrete time systems;energy conservation;linearisation techniques;mean square error methods;nonlinear control systems;predictive control;quadratic programming;robot dynamics;trajectory control;NMPC;SLMPC;VSA robots;control horizon;design paradigm;discrete-time linear model;energy efficient robots;linear representation;nonlinear model predictive control;quadratic problem;robot control;robot dynamics;root-mean-square errors;safety features;successive linearization based model predictive control;trajectory tracking experiment;variable stiffness actuated robots;Computational modeling;Cost function;Mathematical model;Nonlinear systems;Predictive control;Robots;Vehicle dynamics},
doi={10.1109/AIM.2017.8014275},
ISSN={},
month={July},}

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