In this paper, the application of receding horizon control to a two-link direct drive manipulator (Fig. 1) is demonstrated. Instead of the terminal constraints, a terminal cost on receding horizon control is used to guarantee the stability, because of the computational demand. The key idea of this paper is to apply the receding horizon control with the terminal cost which is derived from the energy function of the robot system. The energy function is given as the control Lyapunov function by considering the inverse optimality. In the experimental results, the stability and the performance are compared with respect to the horizon length by applying the receding horizon control and the inverse optimal control to the robot arm.

SUMMARYIn this paper, the application of receding horizon control to a two-link direct drive robot arm is demonstrated. Instead of terminal constraints, a terminal cost on receding horizon control is used to guarantee stability, because of the computational demand. The key idea of this paper is to apply receding horizon control with a terminal cost derived from the energy function of the robot system. The energy function is defined as the control Lyapunov function by considering inverse optimality. In experimental results, stability and performance are compared with respect to the horizon length by applying receding horizon control and inverse optimal control to the robot arm