2024
DOI: 10.1051/jnwpu/20244220368
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A trajectory tracking algorithm of generalized predictive control manipulator based on feedback linearization

Guoqing SHI,
Jiayi CHENG,
Jiandong ZHANG
et al.

Abstract: This paper analyzes the characteristics of the trajectory tracking control problem of the manipulator and establishes a two-degree-of-freedom manipulator dynamic model. In order to solve the problem that generalized predictive control(GPC) algorithm is difficult to apply to nonlinear systems, a feedback linearization-based generalized predictive control(FL-GPC) algorithm framework is designed. The bottom layer of the algorithm is the linear system predictive control and the non-linear term is replaced by the e… Show more

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