제약조건을 갖는 모델예측제어기와 되먹임 선형화법을 이용한 2축 로봇시스템 제어

초록

This paper combines the constrained model predictive control with the feedback linearization to solve the control problem of a nonlinear systems with input constraints. The combined approach consists of two steps: Firstly, the nonlinear model is linearized by the feedback linearization. Secondly, based on the linearized model, the constrained model predictive controller is designed taking input constraints into consideration. The proposed controller is applied to two link robot sytem, and trakcing performance of the controller are investigated via some simulations, where a comparison is done between two cases of unconstrained input and contrained input in feedback linearization.