A predictive control algorithm with interpolation for a robot manipulator with constraints

Author

Torres, S. ; Méndez, J.A. ; Acosta, L. ; Sigut, M. ; Marichal, G.N. ; Moreno, L.

Author_Institution

Dep. of Appl. Phys., Univ. de La Laguna, Tenerife, Spain

fYear

2001

fDate

2001

Firstpage

536

Lastpage

541

Abstract

The paper presents an efficient control algorithm applied on a two-link robot manipulator with input constraints. The algorithm proposes a suboptimal solution to the predictive control problem with infinite prediction horizon, by mean of interpolations between the unconstrained optimal solution and other constrained solutions. The control strategy is based on inserting the predictive controller in an adaptive perturbation scheme. The efficiency of the proposed strategy is shown by simulation

Keywords

adaptive control; industrial manipulators; interpolation; linearisation techniques; predictive control; quadratic programming; suboptimal control; adaptive control; constrained control; interpolations; linearisation; model based control; optimal control; perturbation; predictive control; quadratic programming; robotics; two-link manipulator; Automatic control; Cost function; Interpolation; Manipulators; Optimal control; Prediction algorithms; Predictive control; Predictive models; Robotics and automation; Robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 2001. (CCA '01). Proceedings of the 2001 IEEE International Conference on

Conference_Location

Mexico City

Print_ISBN

0-7803-6733-2

Type

conf

DOI

10.1109/CCA.2001.973922

Filename

973922