PREDICTIVE CONTROL OF ROBOTIC MANIPULATORS WITH CONSTRAINTS USING ON-LINE LINEARIZED MODELS

Abstract This paper contains a proposal for the implementation of robotic controllers. It seeks to solve the problem of calculating an optimal control sequence at each sampling time that performs within the limitations set by maximum link speed, link acceleration and actuator torque. Accurate predictions are made using a linearized model of the manipulator at each working point, which enable the computational limitations of real-time implementation to be met, without adversely affecting performance. The model is evaluated at each sample-time by linearization of the Lagrange-Euler model and discretization using a bilinear transform.

[1]  P. Gawthrop,et al.  A globally valid continuous-time GPC through successive system linearisation , 1999, Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304).

[2]  Jacques Gangloff,et al.  6 DOF high speed dynamic visual servoing using GPC controllers , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[3]  Guangjun Liu,et al.  Uncertainty decomposition-based robust control of robot manipulators , 1996, IEEE Trans. Control. Syst. Technol..

[4]  D. Megias,et al.  Extended linearised predictive control: Practical control algorithms for non-linear systems , 1999, 1999 European Control Conference (ECC).

[5]  Teresa Alvarez,et al.  Handling infeasibilities in predictive control , 1997 .

[6]  Sergey Edward Lyshevski.  Non-linear control of advanced direct drive robots: Theory and experiments , 2001 .

[7]  Manfred Morari,et al.  Level control in the steam generator of a nuclear power plant , 2000, IEEE Trans. Control. Syst. Technol..

[8]  L. Singh,et al.  Trajectory generation for a UAV in urban terrain, using nonlinear MPC , 2001, Proceedings of the 2001 American Control Conference. (Cat. No.01CH37148).

[9]  Anibal Ollero,et al.  Fuzzy supervisory path tracking of mobile reports , 1993 .

[10]  F. Valle,et al.  Predictive control of robotic manipulators , 2002, Proceedings of the International Conference on Control Applications.

[11]  B. de Jager,et al.  Experimentally supported control design for a direct drive robot , 2002, Proceedings of the International Conference on Control Applications.

[12]  C. De Prada,et al.  Constrained predictive control of multivariable robotic systems , 1998, Proceedings of the 1998 IEEE International Conference on Control Applications (Cat. No.98CH36104).