Model predictive control of a two-link robot arm

Abstract

This paper presents a new approach for a model predictive control dynamics of a two-link manipulator robot. This technique consists of linearizing a nonlinear dynamic model of the robot by using a feedback linearization control. Once, the linear model has been obtained, a predictive control approach will be developed. We have introduced a quadratic criterion and these parameters are calculated to have a specific behavior of the closed loop system. Here, the objective is to control the arm robot from an initial configuration to the final configuration using a predictive control approach and it is obtained by minimizing a quadratic criterion. In order to show the efficiency of the proposed method, some simulation results are given.