Robust Model Predictive Control for Two-DOF Flexible-Joint Manipulator System

نویسندگان

چکیده

This paper presents a practical study on how to improve the ℋ∞ performance and meet input–output constraints of two-degrees-of-freedom (DOF) flexible-joint manipulator system (FJMS) with parameter uncertainties external disturbances. For this reason, robust constrained moving-horizon controller is designed while still satisfying uncertain system. First, controlled model two-DOF FJMS established via Lagrange equation method, Spong’s assumption, linear fractional transformation (LFT) technique. Then, control requirements are transformed into matrix inequality (LMI) theory full-block multiplier Next, LMI optimization problem refreshed by current state addressed at each sample moment idea predictive (MPC), calculated gain implemented nonlinear closed-loop under feedback structure. The validity feasibility scheme finally verified results simulation experiments.

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ژورنال

عنوان ژورنال: Mathematics

سال: 2023

ISSN: ['2227-7390']

DOI: https://doi.org/10.3390/math11163593