DocumentCode :
2930445
Title :
One step ahead nonlinear predictive control of two links robot manipulators
Author :
Bdirina, K. ; Hajer, R. ; Boucherit, M. ; Djoudi, D. ; Rabehi, D.
Author_Institution :
Nat. Polytech. Sch. (ENP), El Harrach, Algeria
fYear :
2012
fDate :
20-22 June 2012
Firstpage :
1219
Lastpage :
1223
Abstract :
Rigid link manipulators have attracted more and more attention from robot control theorists and robot users because of its various potential advantages. However, their nonlinear dynamics present a challenging control problem, since traditional linear control approaches do not easily apply. For a while, the difficulty was mitigated by the fact that manipulators were highly geared, thereby strongly reducing the interactive dynamic effects between links. In this work a fixed one step ahead nonlinear predictive control has been applied to compute time optimal solutions for a two link manipulator operating in the horizontal plane subject to control angle positions, where the solution is obtained by minimizing a cost function. Tracking performances of the controller are investigated via some simulations.
Keywords :
manipulators; nonlinear control systems; predictive control; angle position control; cost function; fixed one step ahead nonlinear predictive control; horizontal plane; interactive dynamic effects; linear control approach; nonlinear dynamics; robot control theory; two links robot manipulators; Manipulator dynamics; Nonlinear systems; Predictive control; Predictive models; Trajectory; One step ahead predictive control; cost function; nonlinear system; optimization; robot manipulator;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Power Electronics, Electrical Drives, Automation and Motion (SPEEDAM), 2012 International Symposium on
Conference_Location :
Sorrento
Print_ISBN :
978-1-4673-1299-8
Type :
conf
DOI :
10.1109/SPEEDAM.2012.6264516
Filename :
6264516
Link To Document :
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