Robust predictive robot control

摘要

In previous years several control concepts have been applied to robot control. Based on the computed torque method a predictive control law is considered in the paper. It is shown that the predictive control concept is a powerful method to decrease the tracking error in robot manipulator control. Being aware of appearing model-plant mismatches the controller design-procedure must be modified to guarantee disturbance attenuation. Applying an input-output stability analysis it can be shown that the resulting control law is robust against these model-plant mismatches.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>