Robust Model Based Predictive Control for Trajectory Tracking of Parallel Robots

摘要

Model Based Predictive Control (MPC) is an interesting approach due to its ability to consider the constraints of the controlled system and easily adapt to the future reference changes. In this paper, a novel robust MPC controller is presented, which considers the effect of the Tool Center Point (TCP) estimation errors and the model uncertainties of the mechanical structure. In order to show its effectiveness, its application to the 5R parallel manipulator is detailed. Simulation validation is provided to demonstrate that the proposed approach can exploit all the theoretical capabilities of the mechatronic system.