Abstract
In this paper a hybrid control strategy is presented based on Dynamic Matrix Control (DMC) and feedback linearization methods for designing a predictive controller of five bar linkage manipulator as a MIMO system (two inputs and two outputs). Analyzing the internal dynamic of robot shows the open loop system is unstable and non-minimum phase, so in order to apply the predictive controller, special modifications are needed. These modifications on non-minimum phase behavior are performed using feedback linearization procedure based on state space realization. The design objective is to track a desirable set point as well as time varying trajectories as a command references with globally asymptotical stabilization. The proposed controller is applied to nonlinear fully coupled model of the typical five bar linkage manipulator with non-minimum phase behavior. Simulation results show that the proposed controller has good efficiency. The step responses of system with and without feedback linearization process illustrated that the mentioned modification for stabilizing is performed properly. After applying the proposed predictive controller, the joint angle of robot tracks the reference input while another input acts as the disturbance and vice versa.
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Shima Eshaghi received her B.S. and M.S. degrees in Electrical Engineering from Tabriz/Iran University in 2007 and 2009, respectively. His research interests include nonlinear control, predictive control, adaptive control and system identification.
Hamed Kharrati received his B.Sc. and M.Sc. degrees in Control Engineering from University of Tabriz, Tabriz, Iran in 2006 and 2008, respectively. Now he is a Ph.D. candidate in the University of Tabriz and has won the Teaching Fellow award from Ministry of Science, Research and Technology of Iran. He is currently visiting doctoral student at Ryerson University, Toronto, Canada for his sabbatical course. His research interests include Fuzzy Control, Robotics, Intelligent Control, Nonlinear Control, and Control Theory.
Mohammad Ali Badamchizadeh was born in Tabriz, Iran, in December 1975. He received his B.S. degree in Electrical Engineering from University of Tabriz in 1998 and his M.Sc. degree in Control Engineering from University of Tabriz in 2001. He received his Ph.D. degree in Control Engineering from University of Tabriz in 2007. He is now an Assistant Professor in the Faculty of Electrical and Computer Engineering at University of Tabriz. His research interests include Adaptive Control, Hybrid dynamical systems, Stability of systems, Time delay systems.
Iraj Hassanzadeh received his Ph.D. in Electrical Engineering (Control/Robotics) from University of Tabriz, Iran in conjunction with the University of Western Ontario, London, Canada, and his M.Sc. from the University of Tabriz, in 2002 and 1994, respectively. He received his B.Sc. degree from the University of Tehran, Iran, in 1991. He worked as a postdoctoral fellow in Mechatronics and Robotics at Ryerson University, Toronto, Canada, for about two years during 2004–2005. Since 2002, he has been with the faculty of Electrical and Computer Engineering, University of Tabriz, Iran. His research interests include robotics, visual servoing, tele-robotics, telesurgery, control theory, nonlinear modeling, and power system control. Now, he is on sabbatical leave at the University of Alberta.
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Eshaghi, S., Kharrati, H., Badamchizadeh, M.A. et al. A predictive controller based on dynamic matrix control for a non-minimum phase robot manipulator. Int. J. Control Autom. Syst. 10, 574–581 (2012). https://doi.org/10.1007/s12555-012-0314-8
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DOI: https://doi.org/10.1007/s12555-012-0314-8