Predictive control for multi-joint manipulator with polytopic model

  • Authors:

  • Zhilin Liu;Qidan Zhu;Lihui Wang

  • Affiliations:

  • Harbin Engineering University, Harbin, China;Harbin Engineering University, Harbin, China;Harbin Engineering University, Harbin, China

  • Venue:
  • ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
  • Year:
  • 2009

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Abstract

A model predictive control (MPC) is proposed for a multi-joint manipulator with constrained input. With linearization around the equilibrium manifold, the manipulator was transformed into a continous linear parameter varying system with respect to the equilibrium manifold. The corresponding manipulator system is described as polytopic expression by a convex decomposition. The control law is obtained by convex optimization based on MPC involving linear matrix inequalities (LMIs). Closed-loop systems stability is guaranteed by LMI constrain. The simulation results verify the effectiveness of the proposed method