Feedback-linearization-based Model Predictive Control for Multiple-DOFs Manipulators via Logarithm Sliding Mode

In this paper, a new control approach for two degrees of freedom manipulators is proposed by combining the classical model predictive control scheme with a lgarithm sliding mode manifold. Firstly, we simplify the dynamic model of manipulators through logarithmic sliding mode and feedback linearization. After that, the simplified dynamic model is uesd for model predictive control. In order to show the suitability of the proposed control approach, a group of simulations and result analysis are provided.