Dynamic Tube-MPC for Underactuated Mechanical Systems With Matched and Unmatched Disturbances

Abstract

This letter investigates the trajectory tracking problem for a class of underactuated mechanical systems subject to matched and unmatched time-varying disturbances. To this end, a new dynamic tube-Model Predictive Control is proposed which includes a new tube dynamics and a new ancillary control constructed with an energy-shaping approach. Simulation results on a two-links model representative of a soft manipulator with disturbances demonstrate the effectiveness of the new controller.