弹性伺服驱动系统中具有传输转矩约束的抗扰控制：一种新型EMPC-DSMC方法

To effectively address mechanical vibrations, torque constraint and disturbance rejection issues in elastic servo systems, a novel algorithm combining explicit model predictive control (EMPC) and discrete-time sliding mode control (DSMC) is proposed. First, EMPC significantly improves computational efficiency by replacing the fully online computation process of conventional MPC with offline pre-co...