Predictive Control for Multi-joint Manipulator with Polytopic Model

摘要：

A model predictive control (MPC) is proposed for a multi-joint manipulator with constrained input. With linearization around the equilibrium manifold, the manipulator was transformed into a continous linear parameter varying system with respect to the equilibrium manifold. The corresponding manipulator system is described as polytopic expression by a convex decomposition. The control law is obtained by convex optimization based on MPC involving linear matrix inequalities (LMIs). Closed-loop systems stability is guaranteed by LMI constrain. The simulation results verify the effectiveness of the proposed method

作者: Zhilin Liu Qidan Zhu Lihui Wang

作者单位: Harbin Engineering University,Harbin,150001,China Harbin Engineering University,Harbin,China

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 2130-2133

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）