MPC Control and LQ Optimal Control of A Two-Link Robot Arm: A Comparative Study

This study examined the control of a planar two-link robot arm. The control approach design was based on the dynamic model of the robot. The mathematical model of the system was nonlinear, and thus a feedback linearization control was first proposed to obtain a linear system for which a model predictive control (MPC) was developed. The MPC control parameters were obtained analytically by minimizing a cost function. In addition, a simulation study was done comparing the proposed MPC control approach, the linear quadratic (LQ) control based on the same feedback linearization, and a control approach proposed in the literature for the same problem. The results showed the efficiency of the proposed method.

[1]  An-Chyau Huang,et al.  Adaptive LQ control of robot manipulators , 2014, 2014 9th IEEE Conference on Industrial Electronics and Applications.

[2]  Corneliu Lazar,et al.  Predictive control architecture for real-time image moments based servoing of robot manipulators , 2012, J. Intell. Manuf..

[3]  Tomasz Rybus,et al.  Control System for Free-Floating Space Manipulator Based on Nonlinear Model Predictive Control (NMPC) , 2017, J. Intell. Robotic Syst..

[4]  M. Diehl,et al.  Practical Time-Optimal Trajectory Planning for Robots: a Convex Optimization Approach , 2008 .

[5]  Andrea Maria Zanchettin,et al.  Reactive Constrained Model Predictive Control for Redundant Mobile Manipulators , 2014, IAS.

[6]  Rahma Boucetta.  Generalized Predictive Control for a Flexible Single-Link Manipulator , 2013, CISIM.

[7]  Alessandro Gasparetto,et al.  Model Predictive Control of a Flexible Links Mechanism , 2010, J. Intell. Robotic Syst..

[8]  Rickey Dubay,et al.  Non-linear model predictive control schemes with application on a 2 link vertical robot manipulator , 2016 .

[9]  Jan Swevers,et al.  Time-Optimal Path Tracking for Robots: A Convex Optimization Approach , 2009, IEEE Transactions on Automatic Control.

[10]  C. L. Philip Chen,et al.  Coordinated fuzzy control of robotic arms with actuator nonlinearities and motion constraints , 2015, Inf. Sci..

[11]  Martijn Wisse,et al.  Robust feedforward control of robotic arms with friction model uncertainty , 2015, Robotics Auton. Syst..

[12]  Andrea Maria Zanchettin,et al.  Motion planning for robotic manipulators using robust constrained control , 2017 .

[13]  Farzin Piltan,et al.  Design Novel Fuzzy Robust Feedback Linearization Control with Application to Robot Manipulator , 2013 .

[14]  Jozsef Bokor,et al.  Development and performance evaluation of an infinite horizon LQ optimal tracker , 2017, Eur. J. Control.

[15]  P. Olver.  Nonlinear Systems , 2013 .

[16]  Lorenzo Ntogramatzidis,et al.  On the solution of the Riccati differential equation arising from the LQ optimal control problem , 2010, Syst. Control. Lett..

[17]  Radu-Emil Precup,et al.  Nature-inspired optimal tuning of input membership functions of Takagi-Sugeno-Kang fuzzy models for Anti-lock Braking Systems , 2015, Appl. Soft Comput..

[18]  Kun-Yung Chen,et al.  Robust Optimal Adaptive Sliding Mode Control with the Disturbance Observer for a Manipulator Robot System , 2018, International Journal of Control, Automation and Systems.

[19]  Radu-Emil Precup,et al.  An overview on fault diagnosis and nature-inspired optimal control of industrial process applications , 2015, Comput. Ind..

[20]  Fevzullah Temurtas,et al.  A study on industrial robotic manipulator model using model based predictive controls , 2009, J. Intell. Manuf..

[21]  Peter J. Gawthrop,et al.  Intermittent Predictive Control of an Inverted Pendulum , 2006 .

[22]  Rajendra Prasad,et al.  Adaptive neuro fuzzy based hybrid force/position control for an industrial robot manipulator , 2016, J. Intell. Manuf..

[23]  Asif Sabanovic,et al.  A novel hybrid contouring control method for 3-DOF robotic manipulators , 2016 .

[24]  Karl Johan Åström,et al.  GLOBAL STABILIZATION OF THE INVERTED PENDULUM USING MODEL PREDICTIVE CONTROL , 2002 .

[25]  Erol Ozgur,et al.  Kinematic modeling and control of a robot arm using unit dual quaternions , 2016, Robotics Auton. Syst..

[26]  Lingling Shi,et al.  Nonlinear model predictive control of a planar three-link space manipulator , 2017, 2017 11th Asian Control Conference (ASCC).

[27]  Gary Boone,et al.  Minimum-time control of the Acrobot , 1997, Proceedings of International Conference on Robotics and Automation.

[28]  Brett Ninness,et al.  Nonlinear model predictive control of an inverted pendulum , 2009, 2009 American Control Conference.

[29]  Alessandro Gasparetto,et al.  Experimental Validation of Minimum Time-jerk Algorithms for Industrial Robots , 2011, J. Intell. Robotic Syst..

[30]  El-Hadi Guechi,et al.  Model predictive control of a two-link robot arm , 2018, 2018 International Conference on Advanced Systems and Electric Technologies (IC_ASET).

[31]  John T. Agee,et al.  Flat control of industrial robotic manipulators , 2017, Robotics Auton. Syst..

[32]  Tian Yu,et al.  Robust H(∞) positional control of 2-DOF robotic arm driven by electro-hydraulic servo system. , 2015, ISA transactions.

[33]  Adrian-Vasile Duka,et al.  Neural Network based Inverse Kinematics Solution for Trajectory Tracking of a Robotic Arm , 2014 .