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Abstract
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Article Information:
Computational Effective Predictive End-Point Trajectory Control of Flexible Manipulators with Measureable Feedback Lag
Xiaoya Wei and Shan Liu
Corresponding Author: Xiaoya Wei
Submitted: December 18, 2011
Accepted: April 20, 2012
Published: October 15, 2012 |
Abstract:
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A trajectory tracking approach is proposed for end-point trajectory control of elastic manipulator
based on model predictive control. In practice measuring lag is inevitable for flexible manipulator. To solve
the problem, a simplified linear predictive model is derived from the manipulator’s dynamics and special
prediction strategy based on this model is designed to predict the robot’s future behavior with delayed feedback.
Then the control law aimed to minimize a quadratic performance index of predicted tracking error is proposed.
Since the conventional predictive control involves large amount of calculation, which is intolerable for high
sampling speed, proper simplifications are made to achieve high computation efficiency through obtaining the
analytical expression of the control signal. Theoretical analysis proves the boundness and stability convergence
of the end-point tracking error. Finally the proposed controller is applied to a one-link manipulator in simulation
section, where good control effect demonstrates the advantages of the proposed controller.
Key words: Flexible manipulator, high computation efficiency, measuring lag, predictive control, , ,
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Abstract
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Cite this Reference:
Xiaoya Wei and Shan Liu, . Computational Effective Predictive End-Point Trajectory Control of Flexible Manipulators with Measureable Feedback Lag. Research Journal of Applied Sciences, Engineering and Technology, (20): 3875-3884.
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ISSN (Online): 2040-7467
ISSN (Print): 2040-7459 |
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