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Experiments on stabilizing receding horizon control of a direct drive manipulator
Author(s) -
Kawai Yasunori,
Nakaso Yujiro,
Mimoto Shinichiro,
Fujita Masayuki
Publication year - 2008
Publication title -
electronics and communications in japan
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.131
H-Index - 13
eISSN - 1942-9541
pISSN - 1942-9533
DOI - 10.1002/ecj.10113
Subject(s) - control theory (sociology) , horizon , stability (learning theory) , terminal (telecommunication) , lyapunov function , function (biology) , inverse , control (management) , robot , optimal control , engineering , computer science , control engineering , mathematics , mathematical optimization , artificial intelligence , physics , nonlinear system , telecommunications , geometry , quantum mechanics , machine learning , evolutionary biology , biology
In this paper, the application of receding horizon control to a two‐link direct drive robot arm is demonstrated. Instead of terminal constraints, a terminal cost on receding horizon control is used to guarantee stability, because of the computational demand. The key idea of this paper is to apply receding horizon control with a terminal cost derived from the energy function of the robot system. The energy function is defined as the control Lyapunov function by considering inverse optimality. In experimental results, stability and performance are compared with respect to the horizon length by applying receding horizon control and inverse optimal control to the robot arm. © 2008 Wiley Periodicals, Inc. Electron Comm Jpn, 91(5): 33–40, 2008; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/ecj.10113