Control of Flexible Manipulator Robots Based on Dynamic Confined Space of Velocities: Dynamic Programming Approach
César A. Peña Fernández
Abstract:Linear Parameter Varying models-based Model Predictive Control (LPV-MPC) has stood out in manipulator robots because it presents well-rejection to dynamic uncertainties in flexible joints. However, it has become too weak when the MPC's optimization problem does not include kinematic constraints-based conditions. This paper uses dynamic confined space of velocities (DCSV) to include these conditions as a recursive polytopic constraint, guaranteeing optimal dependency on a simplex scheduling parameter. To this e… Show more
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