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Computational Effective Predictive End-Point Trajectory Control of Flexible Manipulators with Measureable Feedback Lag

A trajectory tracking approach is proposed for end-point trajectory control of elastic manipulator based on model predictive control. In practice measuring lag is inevitable for flexible manipulator. To solve the problem, a simplified linear predictive model is derived from the manipulator's dynamics and special prediction strategy based on this model is designed to predict the robot's future behavior with delayed feedback. Then the control law aimed to minimize a quadratic performance index of predicted tracking error is proposed. Since the conventional predictive control involves large amount of calculation, which is intolerable for high sampling speed, proper simplifications are made to achieve high computation efficiency through obtaining the analytical expression of the control signal. Theoretical analysis proves the boundness and stability convergence of the end-point tracking error. Finally the proposed controller is applied to a one-link manipulator in simulation section, where good control effect demonstrates the advantages of the proposed controller.