Constraint mapping in a feedback linearization/MPC scheme for trajectory tracking of underactuated multibody systems. Issue 23 (2015)

• Record Type: Journal Article
• Authors: Schnelle, Fabian; Eberhard, Peter
• Is Part Of: IFAC-PapersOnLine. Volume 48:Issue 23(2015)
• Page Start: 446
• Page End: 451
• Publication Date: 2015
• Subjects: MPC -- Feedback Linearization -- Underactuated Multibody System -- Constraint Handling -- Serial Manipulator; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2015.11.319
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: In this work, a nonlinear control scheme consisting of an exact feedback linearization and a model predictive controller is presented in order to track reference trajectories for an end-effector of an underactuated multibody system. In the case of minimum-phase systems, designing a feedback linearization results in an exactly linearized system, which can be used for model predictive control design. A method is proposed in detail how to handle mechanical constraints like restricted inputs through the nonlinear mapping of the feedback linearization in the optimization problem. A predictive controller combined with an exact input-output linearization is applied to a serial manipulator with a passive joint, which enables both accurate trajectory tracking and compliance of the constraints.