Adaptive nonlinear model predictive control design of a flexible-link manipulator with uncertain parameters

作     者：Fabian Schnelle Peter Eberhard 

作者机构：Institute of Engineering and Computational MechanicsUniversity of Stuttgart 

出 版 物：《Acta Mechanica Sinica》 (力学学报（英文版）)

年 卷 期：2017年第33卷第3期

页      面：529-542页

核心收录：

学科分类：07[理学] 070105[理学-运筹学与控制论] 0802[工学-机械工程] 0701[理学-数学] 0801[工学-力学（可授工学、理学学位）] 0702[理学-物理学] 

主　　题：Model predictive control Feedback linearization Unscented Kalman filter Flexible-link manipulator Fuzzy-arithmetical analysis 

摘      要：This paper presents a novel adaptive nonlinear model predictive control design for trajectory tracking of flexible-link manipulators consisting of feedback linearization, linear model predictive control, and unscented Kalman filtering. Reducing the nonlinear system to a linear system by feedback linearization simplifies the optimization problem of the model predictive controller significantly, which, however, is no longer linear in the presence of parameter uncertainties and can potentially lead to an undesired dynamical behaviour. An unscented Kalman filter is used to approximate the dynamics of the prediction model by an online parameter estimation, which leads to an adaptation of the optimization problem in each time step and thus to a better prediction and an improved input action. Finally, a detailed fuzzy-arithmetic analysis is performed in order to quantify the effect of the uncertainties on the control structure and to derive robustness assessments. The control structure is applied to a serial manipulator with two flexible links containing uncertain model parameters and acting in three-dimensional space.