Model Predictive Control of a Three Degrees of Freedom Manipulator Robot

摘要

In this paper a model predictive control (MPC) approach developed in our previous work [1] is used here for controlling a three degrees of freedom (DOF) manipulator robot, with a simultaneous minimizing a new cost function. After getting a linearized dynamic model for the manipulator robot by using a feedback linearization control, a MPC control is developed with minimizing a quadratic criterion that is a function of the predicted error and the synthetic control. Next, to better tune the parameters (τ: horizon time of prediction, σ: weight factor) of the MPC control second order system was considered. In order to show the suitability of the proposed control approach, a simulation and results analysis are provided.