Trajectory Tracking of Manipulators Based on Improved Robust Nonlinear Predictive Control

Abstract

This paper presents a novel trajectory tracking control method for a manipulator of 6-DOF (6 Degrees of Freedom) based on robust nonlinear predictive control. The design of such control requires the establishment of dynamic nonlinear model of the manipulator and the application of improved robust predictive control law which gives different weights to tracking errors in different stages of dynamic prediction time. Stability of the system is analyzed using Lyapunov stability theory. Comparative 6-DOF simulation results show that proposed controller design can ensure higher tracking precision and faster convergence, as well as demonstrate the effectiveness of our improved method.