Nonlinear Receding-Horizon Control of Rigid Link Robot Manipulators
The approximate nonlinear receding-horizon control law is used to treat the trajectory tracking control problem of rigid link robot manipulators. The derived nonlinear predictive law uses a quadratic performance index of the predicted tracking error and the predicted control effort. A key feature of...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2008-11-01
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| Series: | International Journal of Advanced Robotic Systems |
| Subjects: | |
| Online Access: | http://www.intechopen.com/articles/show/title/nonlinear_receding-horizon_control_of_rigid_link_robot_manipulators |
| _version_ | 1818533421636386816 |
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| author | R. Hedjar Boucher P. |
| author_facet | R. Hedjar Boucher P. |
| author_sort | R. Hedjar |
| collection | DOAJ |
| description | The approximate nonlinear receding-horizon control law is used to treat the trajectory tracking control problem of rigid link robot manipulators. The derived nonlinear predictive law uses a quadratic performance index of the predicted tracking error and the predicted control effort. A key feature of this control law is that, for their implementation, there is no need to perform an online optimization, and asymptotic tracking of smooth reference trajectories is guaranteed. It is shown that this controller achieves the positions tracking objectives via link position measurements. The stability convergence of the output tracking error to the origin is proved. To enhance the robustness of the closed loop system with respect to payload uncertainties and viscous friction, an integral action is introduced in the loop. A nonlinear observer is used to estimate velocity. Simulation results for a two-link rigid robot are performed to validate the performance of the proposed controller. |
| first_indexed | 2024-12-11T17:58:28Z |
| format | Article |
| id | doaj.art-bdfc30ffd6c04c89a81988196cd7ed4e |
| institution | Directory Open Access Journal |
| issn | 1729-8806 1729-8814 |
| language | English |
| last_indexed | 2024-12-11T17:58:28Z |
| publishDate | 2008-11-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-bdfc30ffd6c04c89a81988196cd7ed4e2022-12-22T00:56:00ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88061729-88142008-11-0121Nonlinear Receding-Horizon Control of Rigid Link Robot ManipulatorsR. HedjarBoucherP.The approximate nonlinear receding-horizon control law is used to treat the trajectory tracking control problem of rigid link robot manipulators. The derived nonlinear predictive law uses a quadratic performance index of the predicted tracking error and the predicted control effort. A key feature of this control law is that, for their implementation, there is no need to perform an online optimization, and asymptotic tracking of smooth reference trajectories is guaranteed. It is shown that this controller achieves the positions tracking objectives via link position measurements. The stability convergence of the output tracking error to the origin is proved. To enhance the robustness of the closed loop system with respect to payload uncertainties and viscous friction, an integral action is introduced in the loop. A nonlinear observer is used to estimate velocity. Simulation results for a two-link rigid robot are performed to validate the performance of the proposed controller.http://www.intechopen.com/articles/show/title/nonlinear_receding-horizon_control_of_rigid_link_robot_manipulatorsreceding-horizon controlnonlinear observerrobot manipulatorsintegral actionrobustness. |
| spellingShingle | R. Hedjar Boucher P. Nonlinear Receding-Horizon Control of Rigid Link Robot Manipulators International Journal of Advanced Robotic Systems receding-horizon control nonlinear observer robot manipulators integral action robustness. |
| title | Nonlinear Receding-Horizon Control of Rigid Link Robot Manipulators |
| title_full | Nonlinear Receding-Horizon Control of Rigid Link Robot Manipulators |
| title_fullStr | Nonlinear Receding-Horizon Control of Rigid Link Robot Manipulators |
| title_full_unstemmed | Nonlinear Receding-Horizon Control of Rigid Link Robot Manipulators |
| title_short | Nonlinear Receding-Horizon Control of Rigid Link Robot Manipulators |
| title_sort | nonlinear receding horizon control of rigid link robot manipulators |
| topic | receding-horizon control nonlinear observer robot manipulators integral action robustness. |
| url | http://www.intechopen.com/articles/show/title/nonlinear_receding-horizon_control_of_rigid_link_robot_manipulators |
| work_keys_str_mv | AT rhedjar nonlinearrecedinghorizoncontrolofrigidlinkrobotmanipulators AT boucher nonlinearrecedinghorizoncontrolofrigidlinkrobotmanipulators AT p nonlinearrecedinghorizoncontrolofrigidlinkrobotmanipulators |