Experiments on stabilizing receding horizon control of a direct drive manipulator

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 re...

Full description

Saved in:
Bibliographic Details
Published inElectronics and communications in Japan Vol. 91; no. 5; pp. 33 - 40
Main Authors Kawai, Yasunori, Nakaso, Yujiro, Mimoto, Shinichiro, Fujita, Masayuki
Format Journal Article
LanguageEnglish
Published Hoboken Wiley Subscription Services, Inc., A Wiley Company 01.05.2008
Subjects
model-based control
predictive control
robot control
stabilization
Online AccessGet full text

Cover

More Information
Summary: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. © 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
Bibliography:ArticleID:ECJ10113
istex:D039097305EC2D06BFCD372633D0AFB8FA88A09D
ark:/67375/WNG-NSGTLKPH-W
ObjectType-Article-2
SourceType-Scholarly Journals-1
ObjectType-Feature-1
content type line 23
ISSN:1942-9533
1942-9541
DOI:10.1002/ecj.10113