Model Predictive Control for Position Tracking of Robot Manipulator

摘要

This paper presents the methods for position tracking of the manipulator based on the model predictive control approach. Benefiting from characteristic of predictive control-a procedure for a finite horizon optimal control problem-this method count the minimal control when control energy reaches its least in range. Moreover, the imitative control use of a posteriori and a priori numerical information, which is readily available in the scheme, is evaluated through the computed closed-loop trajectories. Being different from the conventional MPC, the predictive model used in this paper is non-linear. The key attribute of scheme presented is an internal model, on which the predictive control updates with each certain anglerange changing. Although compute needs support of hardware, the effectiveness of the proposed scheme can be concluded if this approach be applied to the eye-to-hand RR manipulator system.