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Please use this identifier to cite or link to this item: http://hdl.handle.net/123456789/14987

Title: Nonlinear receding horizon control of rigid link robot manipulators
Authors: R. Hedjar
P. Boucher
Keywords: Receding-horizon control, nonlinear observer, robot manipulators, integral action, robustness
Issue Date: 2005
Publisher: International journal of advanced robotic systems
Abstract: The approximate nonlinear receding-horizon control law is used to treat the trajectory tracking control problem of rigid link robot manipulators. The derived nonlinear predictive law uses a quadratic performance index of the predicted tracking error and the predicted control effort. A key feature of this control law is that, for their implementation, there is no need to perform an online optimization, and asymptotic tracking of smooth reference trajectories is guaranteed. It is shown that this controller achieves the positions tracking objectives via link position measurements. The stability convergence of the output tracking error to the origin is proved. To enhance the robustness of the closed loop system with respect to payload uncertainties and viscous friction, an integral action is introduced in the loop. A nonlinear observer is used to estimate velocity. Simulation results for a two-link rigid robot are performed to validate the performance of the proposed controller.
URI: http://hdl.handle.net/123456789/14987
Appears in Collections:College of Computer and Information Sciences

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