Modelling and nonlinear predictive control of flexible manipulator

This paper presents a methodology for mathematical modeling and control of flexible robotic manipulators system. The Lagrangian mechanics and the assumed mode methods have been used to drive a proposed dynamic model of a single-link flexible manipulator having a revolute joint. The model may be used in general to investigate the motion of the manipulator in the horizontal plane rest-to-rest rotational maneuver. Then, a nonlinear predictive controller is designed on the basis of a Nonlinear Generalized Predictive Control (NLGPC) using the receding-horizon control approach. Based on the (NLGPC), the control law is derived by minimizing a quadratic cost function that penalizes future tracking errors and control torques. Simulation results are presented for a single-link flexible manipulator to achieve a desired angular rotation of the link while simultaneously suppressing structural vibrations. The results are illustrated by a numerical example.