Predictive Control of Flexible Joint Robotic Manipulator
نویسندگان
چکیده
A new formulation of a trajectory tracking controller for flexible joint robotic manipulator is proposed. The controller is based on the continuous time nonlinear predictive control approach wherein predicted errors in the actual response and the desired response and current control expenditure is minimized point-wise to obtain an optimal, nonlinear feedback control law. It is shown that the wellknown feedback linearizing controller represents a specific case of the predictive controller. Closed loop stability of the controller is studied and simulations results are presented to demonstrate the performance of the controller.
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