This paper considers the control problem of a single link manipulator with a nonlinear flexible joint using the optimal predictive control technique. Based on the method of the model predictive control and the Taylor transformation technique, an optimal control law is synthesized for nonlinear systems. Both regulating and tracking control problem are considered. The results show that the proposed approach can be applied to control nonlinear systems effectively.
|Number of pages||18|
|Journal||Systems Analysis Modelling Simulation|
|Publication status||Published - 1998 Jan 1|
All Science Journal Classification (ASJC) codes
- Modelling and Simulation
- Applied Mathematics