Transactions on Control, Automation and Systems Engineering

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Control of Two-Link Manipulator Via Feedback Linearization and Constrained Model Based Predictive Control

  • Son, Won-Kee (School o Electrical Engineering Seoul National University) ;
  • Park, Jin-Young (School of Electrical Engineering Seoul National University) ;
  • Ryu, Hee-Seb (School of electrical and Computer Engineering, Inha University) ;
  • Kwon, Oh-Kyu (School of electrical and Computer Engineering, Inha University)
  • Published : 2000.12.01
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Abstract

This paper combines the constrained model predictive control with the feedback linearization to solve a nonlinear system control problem with input constraints. The combined approach consists of two steps: Firstly, the nonlinear model is linearized by the feedback linearization. Secondly, based on the linearized model, the constrained model predictive controller is designed taking input constraints into consideration. The proposed controller is applied to two link robot system, and tracking performances of the controller are investigated via some simulations, where the comparisons are done for the cases of unconstrained, constrained input in feedback linearization.

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References

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