Model Predictive Control of a Flexible Robot
Robots are mechatronic devices whose control is directly related to proper operation. Structural flexibility adds an extra complexity to the underlying control problem. In this chapter, we present a model predictive control (MPC) strategy for motion control of a flexible-link robotic manipulator. In Section 13.2, the dynamic model for a prototype flexible-link manipulator system (FLMS) is developed. Section 13.3 presents the new MPC algorithm, its underlying strategy, and issues related to the application of MPC in the motion control of flexible-link robot manipulators. Section 13.4 describes the experimental test bed of a flexible-link robot manipulator designed and developed in our laboratory. This robot is employed to implement and investigate the MPC scheme developed here. Section 13.5 gives the simulation results for a single flexible-link robot manipulator under control of the MPC scheme. Concluding remarks are given in Section 13.6.