Model predictive control for space robot manipulator modeled by switched systems: A data‐driven approach

摘要

Abstract This article investigates the data‐driven based model predictive control (MPC) problem for a class of space robot manipulator (SRM). First, the SRM system is modeled as a class of discrete‐time switched system to reflect more system characteristics. Second, only the input‐state data are used for end‐to‐end controller design, and the system identification process is avoided. In order to meet the real‐time requirements of the manipulator arm angles, a kind of constrained predictive control method is designed to prevent the overheating or damage of SRM motor, optimizing the cost function for each decision cycle under the safe control input constraints. Then, based on the average dwell time method, the asymptotic stability is assured for the presented SRM system. The design conditions for data‐driven based MPC are provided in the form of linear matrix inequalities. Finally, the effectiveness and advantage for the developed data‐driven based MPC strategy are validated via a case study of SRM system.