Experiments on Stabilizing Receding Horizon Control of a Direct Drive Manipulator

摘要

In this paper, the application of receding horizon control to a two-link direct drive robot arm is demonstrated. Instead of terminal constraints, a terminal cost on receding horizon control is used to guarantee stability, because of the computational demand. The key idea of this paper is to apply receding horizon control with a terminal cost derived from the energy function of the robot system. The energy function is defined as the control Lyapunov function by considering inverse optimality. In experimental results, stability and performance are compared with respect to the horizon length by applying receding horizon control and inverse optimal control to the robot arm.