Experiments on Stabilizing Receding Horizon Control of a Direct Drive Manipulator

被引：0
|
作者：
Kawai, Yasunori
Nakaso, Yujiro [1 ]
Mimoto, Shinichiro [1 ]
Fujita, Masayuki [2 ]
机构：
[1] Kanazawa Univ, Kanazawa, Ishikawa 9201192, Japan
[2] Tokyo Inst Technol, Tokyo, Japan
来源：
ELECTRONICS AND COMMUNICATIONS IN JAPAN | 2008年 / 91卷 / 05期
关键词：
robot control; predictive control; model-based control; stabilization;
D O I：
10.1002/ecj.10113
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
In this paper, the application of receding horizon control to a two-link direct drive robot arm is demonstrated. Instead of terminal constraints, a terminal cost on receding horizon control is used to guarantee stability, because of the computational demand. The key idea of this paper is to apply receding horizon control with a terminal cost derived from the energy function of the robot system. The energy function is defined as the control Lyapunov function by considering inverse optimality. In experimental results, stability and performance are compared with respect to the horizon length by applying receding horizon control and inverse optimal control to the robot arm.(c) 2008 Wiley Periodicals, Inc. Electron Comm Jpn, 91(5): 33-40, 2008; Published online in Wiley InterScience (www.interscience.wiley.com). DOI 10.1002/ecj.10113
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收藏
页码：33 / 40
页数：8
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