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Incremental Model Predictive Control Exploiting Time-Delay Estimation for a Robot Manipulator

Wang, Yongchao and Leibold, Marion and Lee, Jinoh and Ye, Wenyan and Xie, Jing and Buss, Martin (2022) Incremental Model Predictive Control Exploiting Time-Delay Estimation for a Robot Manipulator. IEEE Transactions on Control Systems Technology, 30 (6), pp. 2285-2300. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/TCST.2022.3142629. ISSN 1063-6536.

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Official URL: https://ieeexplore.ieee.org/document/9701836


This article proposes a new incremental model predictive control (IMPC) strategy, which allows for constrained control of a robot manipulator, while the resulting incremental model is derived without a concrete mathematical system model. First, to reduce dependence on the nominal model of robot manipulators, the continuous-time nonlinear system model is approximated by an incremental system using the time-delay estimation (TDE). Then, based on the incremental system, the tracking IMPC is designed in the framework of MPC without terminal ingredients. Thus, compared with existing MPC methods, the nominal mathematical model is not required. Moreover, we investigate reachable reference trajectories and confirm the local input-to-state stability (ISS) of IMPC, considering the bounded TDE error as the disturbance of the incremental system. For reachable reference trajectories, the local ISS of IMPC is analyzed using the continuity of the value function, and the cumulative error bound is not overconservative. Finally, several real-time experiments are conducted to verify the effectiveness of IMPC. Experimental results show that the system can achieve optimal control performance while guaranteeing that input and state constraints are not violated.

Item URL in elib:https://elib.dlr.de/148786/
Document Type:Article
Title:Incremental Model Predictive Control Exploiting Time-Delay Estimation for a Robot Manipulator
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Wang, YongchaoTechnische Universität MünchenUNSPECIFIEDUNSPECIFIED
Leibold, MarionTechnische Universität MünchenUNSPECIFIEDUNSPECIFIED
Lee, JinohUNSPECIFIEDhttps://orcid.org/0000-0002-4901-7095UNSPECIFIED
Ye, WenyanTechnische Universität MünchenUNSPECIFIEDUNSPECIFIED
Xie, JingTechnische Universität MünchenUNSPECIFIEDUNSPECIFIED
Buss, MartinTechnische Universität MünchenUNSPECIFIEDUNSPECIFIED
Date:February 2022
Journal or Publication Title:IEEE Transactions on Control Systems Technology
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 2285-2300
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:Incremental system; input-to-state stability (ISS); model predictive control (MPC); time-delay estimation (TDE).
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Walking robot/locomotion [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Lee, Dr. Jinoh
Deposited On:28 Feb 2022 09:17
Last Modified:25 Oct 2022 16:58

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