Incremental Model Predictive Control Exploiting Time-Delay Estimation for a Robot Manipulator
نویسندگان
چکیده
This article proposes a new incremental model predictive control (IMPC) strategy, which allows for constrained of robot manipulator, while the resulting is derived without concrete mathematical system model. First, to reduce dependence on nominal manipulators, continuous-time nonlinear approximated by an using time-delay estimation (TDE). Then, based system, tracking IMPC designed in framework MPC terminal ingredients. Thus, compared with existing methods, not required. Moreover, we investigate reachable reference trajectories and confirm local input-to-state stability (ISS) IMPC, considering bounded TDE error as disturbance system. For trajectories, ISS analyzed continuity value function, cumulative bound overconservative. Finally, several real-time experiments are conducted verify effectiveness IMPC. Experimental results show that can achieve optimal performance guaranteeing input state constraints violated.
منابع مشابه
Robust Force/position Control of a Robot Manipulator Using Time-delay Control
Robot hybrid control has been noted for its difficulty due to the so-called dynamic stability problem, and consequently demands robust control algorithms that can overcome this difficulty, yet with accuracy. In this paper, • control law based on time-delay controlhas been derived for hybrid control with • condition for closed-loop stability. In addition, its relationship with the disturbance ob...
متن کاملPredictive Control Architecture for Visual Servoing of Robot Manipulator
A novel architecture for integrating reference trajectory and image prediction is proposed to be used in predictive control of visual servoing systems. In the proposed method, a new predictor is developed based on the relation between the camera velocity and the time variation of the visual features given by the interaction matrix. In addition, a reference trajectory is introduced to define the...
متن کاملA New Method for Time-Delay Compensation in Control Systems
In this paper a new method is introduced and investigated for removing the destabilizing effects of time-delay parameter in control loops. The concept of the method is taken from the knowledge concerning the dynamic behaviour of irrational transfer functions (Ir-TF), which is discussed and investigated elswhere in frequency response domain and is explained briefly here. Ir-TFs, which are we...
متن کاملPredictive Computed-torque Control of a Puma 560 Manipulator Robot
Abstract: This paper describes the integration of constrained predictive control and computed-torque control, and its application on a six degree-of-freedom PUMA 560 manipulator arm. The real-time implementation was based on SIMULINK, with the predictive controller and the computed-torque control law implemented in the C programming language. The constrained predictive controller solved a quadr...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IEEE Transactions on Control Systems and Technology
سال: 2022
ISSN: ['1558-0865', '2374-0159', '1063-6536']
DOI: https://doi.org/10.1109/tcst.2022.3142629