Robust Model Predictive Control for Trajectory Tracking of Robotic Manipulators Based on Fully Actuated System Approach

摘要

Multi-degree-of-freedom (DOF) manipulators demonstrate vast application potential in aerospace, medical, and agricultural domains. In this paper, the robust model predictive control (MPC) scheme based on fully actuated system approach (FASA) is proposed for trajectory tracking problem of robotic manipulators with state constraints on joint angle, angular velocity and control torque. First, to handle with the coupled dynamics nonlinearity, a FASA-based controller is adopted. Fortunately, the obtained closed-loop system is linear and concise, brings all the design degrees of freedom, which can be further optimized to satisfy the trajectory tracking performance and state constraints. Furthermore, in addressing the system uncertainties and state constraints, the robust model control scheme is proposed to optimize the FASA-based controller, and the optimization problem is transformed into a quadratic programming (QP) problem. Finally, numercial simulation is carried out to verify the effectiveness of proposed method.