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Control of Robotic Manipulators with Input Constraints


P. Brunner

Semester/Bachelor Thesis, FS 09

In this semester thesis a model predictive control algorithm for a manipulator with two joints and therefore two links is introduced. The development of the algorithm has two major aspects: the derivation of a nonlinear model of the two link manipulator and the design of a model predictive controller. The nonlinear dynamic equations of the system are derived from the iterative Newton-Euler dynamic formulation. Local linearization around an equilibrium point is used to derive a linear model of the system. Based on the linearization and particularly with regard to the actuator limitations, a predictive controller has been developed. The performance of the model predictive scheme is evaluated using a computer simulation. The results show that the developed control algorithm works quite well around an equilibrium point.


Type of Publication:

(13)Semester/Bachelor Thesis

J. Lygeros

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% Autogenerated BibTeX entry
@PhdThesis { Xxx:2009:IFA_3429
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