Computationally Efficient Predictive Robot Control

Conventional linear controllers (PID) are not really suitable for the control of robot manipulators due to the highly nonlinear behavior of the latter. Over the last decades, several control methods have been proposed to circumvent this limitation. This paper presents an approach to the control of m...

Full description

Saved in:
Bibliographic Details
Published in:IEEE/ASME transactions on mechatronics 2007-10, Vol.12 (5), p.570-578
Main Authors: Duchaine, V., Bouchard, S., Gosselin, C.M.
Format: Article
Language:English
Subjects:
Aerodynamics
Cable-driven mechanism
Controllers
Manipulator dynamics
Manipulators
Mathematical models
nonlinear control
Nonlinearity
Optimal control
parallel mechanism
PD control
position control
Predictive control
Predictive models
Robot arms
Robot control
robot manipulators
Robots
Service robots
Studies
Three-term control
Velocity control
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:Conventional linear controllers (PID) are not really suitable for the control of robot manipulators due to the highly nonlinear behavior of the latter. Over the last decades, several control methods have been proposed to circumvent this limitation. This paper presents an approach to the control of manipulators using a computationally-efficient-model-based predictive control scheme. First, a general predictive control law is derived for position tracking and velocity control, taking into account the dynamic model of the robot, the prediction and control horizons, and also the constraints. However, the main contribution of this paper is the derivation of an analytical expression for the optimal control to be applied that does not involve a numerical procedure, as opposed to most predictive control schemes. In the last part of the paper, the effectiveness of the approach for the control of a nonlinear plant is illustrated using a direct-drive pendulum, and then, the approach is validated and compared to a PID controller using an experimental implementation on a 6-DOF cable-driven parallel manipulator.
ISSN:1083-4435
1941-014X
DOI:10.1109/TMECH.2007.905722