Predictive control for multi-joint manipulator with polytopic model

A model predictive control (MPC) is proposed for a multi-joint manipulator with constrained input. With linearization around the equilibrium manifold, the manipulator was transformed into a continous linear parameter varying system with respect to the equilibrium manifold. The corresponding manipulator system is described as polytopic expression by a convex decomposition. The control law is obtained by convex optimization based on MPC involving linear matrix inequalities (LMIs). Closed-loop systems stability is guaranteed by LMI constrain. The simulation results verify the effectiveness of the proposed method.