Synthesis of bounded-input nonlinear predictive controller for multi-link flexible robots

Abstract

Controller design for multi-link flexible robots taking into consideration control input constraints is presented in this paper. The control law is obtained as a solution that minimizes a certain performance index. A recent result on quadratic programming is used to synthesize the controller and the controller can be implemented on-line. The feedback controller guarantees that the control input constraints are not violated while joint-angle regulation and vibration damping are achieved. Local asymptotic stability of the closed-loop system is shown. Simulation results of a two-link flexible robot are presented in order to demonstrate the feasibility and good performance of the controller.