Model based predictive robotic manipulator control with sinusoidal trajectory and random disturbances

Abstract

In this study, the application of the single input single output (SISO) neural generalized predictive control (NGPC) of a three joint robotic manipulator with the comparison of the SISO generalized predictive control (GPC) is presented. Dynamics modeling of the robotic manipulator was made by using the Lagrange-Euler equations. The frictional effects, the random disturbance, the state of carrying and falling load were added to dynamics model. The sinusoidal trajectory principle is used for position reference and velocity reference trajectories. The results show that the NGPC-SISO algorithm performs better than GPC-SISO algorithm and the influence of the load changes and disturbances to the NGPC-SISO is less than that of the GPC-SISO with sinusoidal trajectory.