Model Predictive Control for Position Tracking of Robot Manipulator
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.
MPC Position Tracking Manipulator
Yu Naigong Hua Jin Ma Chunyan
Beijing University of Technology,Beijing 100124 China
国际会议
厦门
英文
294-298
2010-05-22（万方平台首次上网日期，不代表论文的发表时间）