Nonlinear Generalised Predictive Control and Optimal Dynamical Inversion Control.pdfVIP

Nonlinear Generalised Predictive Control and Optimal Dynamical Inversion Control Wenhua Chen Donald J Ballance Peter J Gawthrop Centre for Systems Control Department of Mechanical Engineering University of Glasgow Glasgow G QQ UK email wchen DBallance and PGawthropmechglaacuk Tel Fax Octob er Abstract This pap er addresses nonlinear Generalised Predictive Control GPC for nonlinear mechanical systems and its relationship with dynamical inver sion control First continuoustime generalised predictive control for non linear systems is develop ed and the stability of the closedlo op systems is shown It is p ointed out that dynamical inversion control is a sp ecial case of continuoustime nonlinear GPC This result also provides an optimal design metho d for dynamical inversion control in term of the generalised predictive control p erformance index The nonlinear GPC develop ed is successfully applied to the control of a twolink rob otic manipulator Keywords Nonlinear systems generalised predictive control dynamical inversion control rob otics Intro duction Generalised Predictive Control GPC is one of a wide set of metho ds re ferred to as Mo del Based Control It has received a great deal of atten tion and is widely applied in engineering for example see Clarke and the references therein Most work in Generalised Predictive Control is based on a discretetime approach As has b een p ointed in the literat ure Gawthrop Gawthrop there are some pr