A trajectory tracking algorithm of generalized predictive control manipulator based on feedback linearization
This paper analyzes the characteristics of the trajectory tracking control problem of the manipulator and establishes a two-degree-of-freedom manipulator dynamic model.In order to solve the problem that generalized pre-dictive control(GPC)algorithm is difficult to apply to nonlinear systems,a feedback linearization-based generalized predictive control(FL-GPC)algorithm framework is designed.The bottom layer of the algorithm is the linear system predictive control and the non-linear term is replaced by the estimated value.The upper level is iteratively revised estimates and the non-linear term is estimated using the iterative calculation method.Finally,the FL-GPC algorithm is used to simulate the static and dynamic trajectory tracking tasks of a two-degree-of-freedom manipulator.Simula-tion results show that the algorithm can perform effective manipulator trajectory tracking control.
trajectory trackingnonlinear system generalizedpredictive controlfeedback linearization
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