» Download Article

Authors
Torres, Santiago; Mendez, J. A.; Acosta, L.; Gonzalez, Evelio; Toledo, Jonay

Identifier
10.3182/20080706-5-KR-1001.01004

Index Terms
Control of constrained systems; Disturbance rejection; Robust control

Abstract
This work presents an efficient control strategy for robot manipulators with constraints and affected by uncertainties and disturbances. The controller uses a combination of model predictive control (MPC) with an adaptive robust feedforward term. The predictive controller is based on interpolations between different simple solutions to guarantee the feasibility of the final solution applied to the manipulator. The proposed method improves the existing techniques in terms of robust capabilities. Feasibility is preserved with the MPC and applicability is also guaranteed as the computational load of the interpolation algorithm is low. The benefits of the strategy, compared with other existing controllers, are shown with simulation results obtained with a PUMA-560 manipulator.

References

Alonge, F., F. D�Ippolito and F.M. Raimondi (2004). Globally Convergent Adaptive and Robust Control of Robotic Manipulators for Trajectory Tracking. Control Engineering Practice, 12 (9), 1091-1100.
Kouvaritakis, B., J.A. Rossiter, M. Cannon and C.K.J. Wong (1997). Constrained stable predictive control: an l2-optimal approach. 5th IEEE MED Conference, Cyprus.
Kouvaritakis, B., J.A.M�ndez and J.A.Rossiter, (2000) Application of MPC with interpolation to a Crane Problem. PCI 2000. Scotland. UK.
Lewis,F.L.(1984). Optimal Control, 49-52. Wiley, NewYork.
M�ndez, J.A., B. Kouvaritakis and J.A. Rossiter (2000) State-space approach to interpolation in MPC. Int. Journal of Robust and Nonlinear Control, 10, 27-38.
Rossiter, J.A., M.J. Rice, J. Schuurmans and B. Kouvaritakis (1998). A computationally efficient constrained predictive control law. ACC 98, Philadelphia, USA.
Scokaert, P.O.M. and B. Rawlings (1998). Constrained linear quadratic regulation. IEEE Trans. AC, 43(8), 1163-1169.
Spong, M.W. (1992). On the robust control of robots manipulators. IEEE Trans. Aut. Control, 37, 1782-1786.
Spong, M.W. (2003). Robust and Adaptive Motion Control of Manipulators. Personal Communication.
Torres, S., J.A. M�ndez, L. Acosta and V.M. Becerra (2006). Adaptive robust controller for robot manipulators: experiments on a PUMA 560 robot. 8th Int. IFAC SYROCO 2006, Bologna, Italy.
Whitcomb, L.L., A.A. Rizzi and D.E. Koditschek (1993). Comparative Experiments with a New Adaptive Controller for Robot Arms. IEEE Transactions on Robotics and Automation, 9(1), 59-70.