Active Vibration Control of a Flexible Manipulator Using Model Predictive Control and Kalman Optimal Filtering

This article presents an application of the multivariable Model-based Predictive Controller associated to a Kalman filter to damp the mechanical vibrations of a flexible one-link manipulator using state variables feedback. The flexible manipulator, seen as a single input multiple outputs system is modelled using the Lagrange equations. The state space equations are expressed in order to simplify the controller and the filter implementation. The performance of the proposed control scheme is evaluated relatively to its vibration damping ability.