A distributed model predictive control (D-MPC) for modular robots in chain configuration

Author

Cortes, F. ; Linares, D. ; Patino, D. ; Melo, K.

Author_Institution

Electron. Dept., Pontificia Univ. Javeriana, Bogota, Colombia

fYear

2011

fDate

1-4 Oct. 2011

Firstpage

1

Lastpage

6

Abstract

This paper shows the design of a distributed predictive control, applied to a robotic chain of six modules. The dynamic model is obtained for a single module which is validated through the SimMechanics blockset of MATLAB. With the obtained model, a controller is designed using different predictive control strategies to choose the one that shows a better performance in terms of overshoot and settling time. Finally, the predictive control is distributed up to six modules, and its performance is evaluated by varying typical parameters of the predictive control such as the horizons of prediction, the control horizon, and the weights among others.

Keywords

control system synthesis; distributed control; performance evaluation; predictive control; robot dynamics; D-MPC; MATLAB; SimMechanics blockset; chain configuration; control horizon; controller design; distributed model predictive control; distributed predictive control; dynamic model; modular robots; performance evaluation; prediction horizons; predictive control strategy; robotic chain; single module; Acceleration; Equations; Mathematical model; Predictive control; Predictive models; Robots; Torque; Dynamic Model; GPC (Generalized Predictive Control); MPC (Model Predictive Control); UMPC (Unconstrained Model Predictive Control);

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics Symposium, 2011 IEEE IX Latin American and IEEE Colombian Conference on Automatic Control and Industry Applications (LARC)

Conference_Location

Bogota

Print_ISBN

978-1-4577-1689-8

Type

conf

DOI

10.1109/LARC.2011.6086843

Filename

6086843