کنفرانس مهندسی برق ایران

صفحه اصلی / سی و یکمین کنفرانس بین المللی مهندسی برق

Stability Analysis for the Non-linear Model Predictive Control of a Flexible Joint Manipulator with Dynamics Uncertainties

نویسندگان :

Mohamadreza Satvati¹ Hossein Karimpour² Keivan Torabi³ Mohammad Motaharifar⁴

1- دانشگاه اصفهان 2- دانشگاه اصفهان 3- دانشگاه اصفهان 4- دانشگاه اصفهان

کلمات کلیدی :

ISS stability،NMPC control،Flexible joints،robotics

چکیده :

In this research, the problem of controlling a one link robot with joint flexibility by the non-linear model predictive control method (NMPC) is considered. The issue concerning the input-to-state stability (ISS) of the NMPC (NMPC) has been proven. The cost function of the NMPC problem can actually play the role of the Lyapunov function. By choosing an appropriate cost function in the NMPC optimization part, the ISS stability of the system in the presence of disturbances and uncertainties such as robot joint flexibility can be reached. In this survey, two modeling examples for a single-link robot have been investigated. In this paper, some unmeasurable variables exist that can be considered as a portion of the system state variables. This unmeasured states are representative of the unmodeled dynamics which may stand for either the flexibility at the joint or of the link itself. In the first example the control input is the actuation torque and in the second one the voltage to the motor. The simulation results show the effectiveness and stability of the proposed approach in presence of disturbances and system uncertainties.