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摘要:
This paper presents the methods for position tracking of the manipulator based on the model predictive control approach. Benefiting from characteristic of predictive control-a procedure for a finite horizon optimal control problem-this method count the control energy reaches its least in mutative control use of a posteriori minimal control when range. Moreover, the and a priori numerical information, which is readily available in the scheme, is evaluated through the computed closed-loop trajectories. Being different from the conventional MPC, the predictive model used in this paper is non-linear. The key attribute of scheme presented is an internal model, on which the predictive control updates with each certain angle-range changing. Although compute needs support of hardware, the effectiveness of the proposed scheme can be concluded if this approach be applied to the eye-to-hand RR manipulator system.
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来源 :
PROCEEDINGS OF THE THIRD INTERNATIONAL SYMPOSIUM ON TEST AUTOMATION & INSTRUMENTATION, VOLS 1 - 4
年份: 2010
页码: 294-298
语种: 英文
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