Robust Model Predictive Control for Two-DOF Flexible-Joint Manipulator System

Rong Li (), Hengli Wang, Gaowei Yan, Guoqiang Li and Long Jian
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Rong Li: College of Electrical and Power Engineering, Taiyuan University of Technology, Taiyuan 030024, China
Hengli Wang: College of Electrical and Power Engineering, Taiyuan University of Technology, Taiyuan 030024, China
Gaowei Yan: College of Electrical and Power Engineering, Taiyuan University of Technology, Taiyuan 030024, China
Guoqiang Li: Nuclear Emergency and Nuclear Safety Department, China Institute for Radiation Protection, Taiyuan 030006, China
Long Jian: College of Electrical and Power Engineering, Taiyuan University of Technology, Taiyuan 030024, China

Mathematics, 2023, vol. 11, issue 16, 1-25

Abstract: This paper presents a practical study on how to improve the ℋ ∞ performance and meet the input–output constraints of the two-degrees-of-freedom (DOF) flexible-joint manipulator system (FJMS) with parameter uncertainties and external disturbances. For this reason, a robust constrained moving-horizon ℋ ∞ controller is designed to improve the system ℋ ∞ performance while still satisfying the input–output constraints of the uncertain system. First, the uncertain controlled system model of the two-DOF FJMS is established via the Lagrange equation method, Spong’s assumption, and the linear fractional transformation (LFT) technique. Then, the control requirements and input–output constraints of the uncertain system are transformed into the linear matrix inequality (LMI) via the theory of ℋ ∞ control and the full-block multiplier technique. Next, the LMI optimization problem refreshed by the current state is addressed at each sample moment with the idea of the moving-horizon control of the model predictive control (MPC), and the calculated gain is implemented to the nonlinear closed-loop system under the state feedback structure. The validity and feasibility of the designed control scheme is finally verified via the results of simulation experiments.

Keywords: two-DOF FJMS; LFT; LMI; moving-horizon control; robust ? ? control (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2023
References: View references in EconPapers View complete reference list from CitEc
Citations: View citations in EconPapers (2)

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