Simultaneous tracking and vibration control of flexible joint manipulator using Laguerre network based composite fast-slow MPC

Abstract

This paper focuses on the design of a Laguerre function based Model Predictive Control (MPC) for simultaneous tracking and vibration control of a flexible joint manipulator. A single link flexible joint manipulator is considered and the dynamic model of the system is derived using Lagrangian approach. The singular perturbation approach is exploited to obtain the two time-scale decomposition of this model. A slow MPC is designed for the slow subsystem for perfect trajectory tracking and a fast MPC is designed for the fast subsystem for vibration suppression of the flexible joint manipulator. The proposed composite control scheme is found to be effective in achieving the twin objectives.