Tuning method for control parameters of Adaptive Nonlinear Model Predictive Controller

In this paper, we discuss a parameter-tuning method for an Adaptive Nonlinear Model Predictive Controller(ANMPC). As a control problem of using the nonlinear model predictive control (NMPC), our group has already proposed tracking controller for a nonlinear two-link planar manipulator having two actuators using the Adaptive Nonlinear Model Predictive Controller. This ANMPC uses a time-variant coefficient instead of a time constant of the reference trajectory which is an ideal trajectory to converge on a desired value. New reference trajectory has some control parameters about the reference trajectory and user of ANMPC must tune these parameters based on controlled system's properties. For this problem, new parameter-tuning method for ANMPC is proposed by quantitatively analizing a relationships of between system's behavior and parameters of ANMPC. In order to show an effectiveness of proposed parameter tuning method, numerical simulations of tracking control of the two-link nonlinear manipulator with several conditions are performed.