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Enhanced nonlinear predictive control of two-link manipulator

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Abstract

In this paper, a nonlinear constrained predictive scheme is proposed to control a two-link rigid manipulator. The main novelty, of this work, lies in the inclusion of constraints on the control action and its dynamics. At first, they are imposed on torque amplitude to protect actuators from excessive values. Then, they are imposed on the controller dynamics to avoid the chattering phenomenon. The proposed approach is validated and its performances are evaluated based on multiple simulation results. They showed and confirmed the expected effect of imposing constraints on the control action; the torque amplitude is reduced within an acceptable range, and the chattering phenomenon is efficiently avoided.

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Authors and Affiliations

  1. LAADI, University of Djelfa, 17000, Djelfa, Algeria

    Khansa Bdirina

  2. CReSTIC, University of Reims, 51000, Reims, France

    Kamel Guesmi

  3. LAADI, University of Djelfa, 17000, Djelfa, Algeria

    Khadidja Saoudi

  4. Computer Engineering Department, King Saud University, Riyadh, Kingdom of Saudi Arabia

    Ramdane Hedjar

Authors
  1. Khansa Bdirina
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  2. Kamel Guesmi
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  3. Khadidja Saoudi
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  4. Ramdane Hedjar
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Contributions

Khansa Bdirina (Controller synthesis, Simulation and results analysis), Kamel Guesmi (Mathematical development, Simulation and results analysis), Khadidja Saoudi (Comparative study, Simulation and results analysis), Ramdane Hedjar (Simulation and results analysis).

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Correspondence to Khansa Bdirina.

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Bdirina, K., Guesmi, K., Saoudi, K. et al. Enhanced nonlinear predictive control of two-link manipulator. Int. J. Dynam. Control 12, 1829–1838 (2024). https://doi.org/10.1007/s40435-023-01311-5

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  • DOI: https://doi.org/10.1007/s40435-023-01311-5

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