A predictive control algorithm with interpolation for a robot manipulator with constraints

The paper presents an efficient control algorithm applied on a two-link robot manipulator with input constraints. The algorithm proposes a suboptimal solution to the predictive control problem with infinite prediction horizon, by mean of interpolations between the unconstrained optimal solution and other constrained solutions. The control strategy is based on inserting the predictive controller in an adaptive perturbation scheme. The efficiency of the proposed strategy is shown by simulation.