Indirect adaptive robust predictive control of robotic manipulators based on uncertain parameter approximation

Abstract

In order to make the robotic manipulator system track well and have strong disturbance-opposing ability under the circumstance of parametric uncertainty and external disturbance,an indirect adaptive robust predictive control method was presented.The nonlinear robust predictive controller was designed based on the robotic manipulator system.Then,the cubic spline functions controller was constructed to approximate the unknown terms in the predictive control law caused by system model uncertainties.And the D-controller was added into the control law to inhibit the external disturbance.It is proved that the proposed controller can make the tracking error converge to the origin.The simulation results show the effectiveness of the method.