International journal of advanced robotic systems

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Title

Nonlinear receding horizon control of rigid link robot manipulators

Author
-
s

R. Hedjar and P. Boucher

Contact lnfo


Department

Computer engineering

Major


citation

International journal of advanced robotic systems
, Vol.2, No.1, pp. 15
-
24,

Year of
Publication

2005

Publisher

International journal of advanced robotic systems

Sponsor


Type of
Publication

journal

ISSN


URI/DOI

http://arxiv.org/abs/cs/0511069

Full Text
(Yes,No)

No

Key words

Receding
-
horizon control, nonlinear observer,
robot manipulators, integral
action, robustness

Abstract


The approximate nonlinear receding
-
horizon control law is used to treat the
trajectory tracking control problem of rigid link robot manipulators. The derived
nonlinear predictive law uses a quadratic performance index of the predicted
tracking error and t
he predicted control effort. A key feature of this control law is
that, for their implementation, there is no need to perform an online
o
ptimization, and asymptotic tracking of smooth reference trajectories is
guaranteed. It is shown that this controller a
chieves the positions tracking
objectives via link position measurements. The stability convergence of the output
tracking error to the origin is proved. To enhance the robustness of the closed
loop system with respect to payload uncertainties and viscous
friction, an integral
action is introduced in the loop. A nonlinear observer is used to estimate velocity.
Simulation results for a two
-
link rigid robot are performed to validate the
performance of the proposed controller.