文章基本信息

标题：Constraint mapping in a feedback linearization/MPC scheme for trajectory tracking of underactuated multibody systems
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作者：Fabian Schnelle ; Peter Eberhard
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2015
卷号：48
期号：23
页码：446-451
DOI：10.1016/j.ifacol.2015.11.319
语种：English
出版社：Elsevier
摘要：AbstractIn this work, a nonlinear control scheme consisting of an exact feedback linearization and a model predictive controller is presented in order to track reference trajectories for an end-effector of an underactuated multibody system. In the case of minimum-phase systems, designing a feedback linearization results in an exactly linearized system, which can be used for model predictive control design. A method is proposed in detail how to handle mechanical constraints like restricted inputs through the nonlinear mapping of the feedback linearization in the optimization problem. A predictive controller combined with an exact input-output linearization is applied to a serial manipulator with a passive joint, which enables both accurate trajectory tracking and compliance of the constraints.
关键词：KeywordsMPCFeedback LinearizationUnderactuated Multibody SystemConstraint HandlingSerial Manipulator