Trajectory tracking in an underactuated, non-minimum phase two-link multibody system through model predictive control with embedded reference dynamics

What are the key stability challenges in high-bandwidth, non-minimum phase systems with time-varying, and non-smooth delays?

“…The analysis of the results obtained from the proposed method in this article, in comparison with the methods referenced in Refs. [ 152 , 153 ], and [ 154 ], reveals compelling insights into the effectiveness of the approach. When examining systems with identical initial delays, it becomes evident that the proposed method in this article excels in terms of accommodating high bandwidth requirements.…”

“…Upon conducting an analytical comparison of the results in Fig. 3 , particularly about the diagram comparison of the closed-loop system for joints 1 and 2, with references [ 152 , 153 ], several critical observations become apparent. The examination primarily focuses on the phase range, margin, and gain, shedding light on the performance of the proposed method presented in this article.…”

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Fig. 3 Bode Plot comparison of the closed-loop system for joints 1 and 2, with references [ 152 , 153 ]. Phase Range: The phase range is a crucial indicator of a system's phase response to different frequencies.

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Influence of Joint Stiffness and Motion Time on the Trajectories of Underactuated Robots

“…Previous works chiefly focused either on the definition of suitable control systems [31][32][33][34][35] or on the mechanical design (e.g., [36,37]). The considered movements were generally slow (e.g., more than a couple of seconds), so sometimes, they were not suitable for industrial uses, in which fast movements are required.…”

Trajectory Tracking of a Data-Based Model of a Two-Link Robotic Manipulator Using Model Predictive Controller

“…However, economic robots need sophisticated control to ensure precise position tracking. Many works of literature have extensively examined model-based control of robotic arms, including control in joint and task space [4][5][6][7][8][9][10][11][12]. Due to their potential to improve control performance in comparison to conventional control approaches and potentially allow the use of affordable hardware or compliant robots in tasks where highprecision trajectory tracking is required, data-driven models for controller design applied to robotic manipulation have attracted increasing interest in recent years.…”