Nonlinear Inverse and Predictive End Point Trajectory Control of Flexible Macro-Micro Manipulators

Abstract This paper presents a new approach to end-point trajectory control of flexible macro-micro manipulator based on nonlinear inversion and predictive control techniques. An inverse control law is derived for the end point trajectory control of the rigid micro manipulator. For the end-point control of the flexible macro manipulator, a predictive control law is derived by minimizing a quadratic function of the tip tracking error of the flexible link (macro), the elastic deflection, and the input torque of the macro manipulator. The feedback parameters of the predictive controller are chosen such that zero dynamics are asymptotically stable.