Model predictive control method of manipulator terminal constraint under co-simulation

Abstract

A model predictive control method based on terminal constraint was proposed to address the trajectory tracking control problem of manipulator. Firstly, the trajectory tracking problem was transformed into a numerical programming problem of model predictive control by setting objective function and constraint conditions. Secondly, in order to ensure that each manipulator could effectively track the desired trajectory in the time domain, the terminal state equality constraint was applied to the original constraints. Finally, feedback correction control was realized by rolling optimization mechanism in the control time domain. The Gazebo-Simulink co-simulation platform was used to verify the effectiveness of the control method. The results show that the tracking error of each joint of the manipulator can be reduced to 1×10-3 rad within 0.31 s, which has good tracking performance and control stability.

Keywords

• manipulator trajectory tracking control
• model predictive control
• terminal constraint
• rolling optimization
• co-simulation
• gazebo