Synthesis of bounded-input nonlinear predictive controller for multi-link flexible robots

摘要

Controller design for multi-link flexible robots taking into consideration control input constraints is presented. The control law is obtained as a solution that minimizes a certain performance index. A result on quadratic programming is used to synthesize the controller and the controller can be implemented online. The feedback controller guarantees that the control input constraints are not violated while joint-angle regulation and vibration damping are achieved. Local asymptotic stability of the closed-loop system is shown. Simulation results of a two-link flexible robot are presented in order to demonstrate the feasibility and good performance of the controller.