文章基本信息

标题：Constrained Predictive Control of a Robotic Manipulator using quasi-LPV Representations
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作者：Pablo S.G. Cisneros ; Aadithyan Sridharan ; Herbert Werner 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2018
卷号：51
期号：26
页码：118-123
DOI：10.1016/j.ifacol.2018.11.158
语种：English
出版社：Elsevier
摘要：AbstractIn this paper a practical approach to Nonlinear Model Predictive Control (NMPC) of a robotic manipulator subject to nonlinear state constraints is presented, which leads to a successful experimental implementation of the control algorithm. The use of quasi-LPV modelling is at the core of this scheme as complex nonlinear optimization is replaced by efficient Quadratic Programming (QP) exploiting the quasi-linearity of the resulting model and constraints. The quasi-LPV model is obtained via velocity-based linearization which results in an exact representation of the nonlinear dynamics and enables stability guarantees with offset-free control. The experimental results show the efficiency and efficacy of the algorithm, as well as its robustness to unmodelled dynamics.
关键词：KeywordsPredictive controllinear parameter-varyingoptimal controlrobotic manipulatorconstrained control