International Federation of Automatic Control
3rd IFAC SYMPOSIUM on SYSTEM, STRUCTURE and CONTROL

Foz do Iguassu, Brazil October 17th - 19th, 2007


Friday Morning

Session FM1: Predictive and Optimal Control


Chair: Jan Maciejowski - United Kingdom
Co-chair: Julio E. Normey-Rico - Brazil
Room: Assunção
2007-10-19
From 10:00 to 12:00
Control of a Brachiation Robot with a Single Underactuated Joint Using Nonlinear Model Predictive Control
Vinícius Menezes de Oliveira; Walter Fetter Lages
Contact: Walter Lages - Brazil
10:40-11:00
Abstract:
In this paper we present the control of an underactuated brachiation robot with only one unactuated joint using the nonlinear model based predictive approach for the motion control. The robot used has 3 links, i. e., two arms and a body. We adopt the MPC to control the underactuated brachiation robot due to its advantages, mainly the construction of an optimal stabilizing control law and due to its ability to consider, in a direct way, the constraints into the optimization problem. At the end we present computational simulations with their respectives results and we highlight some important considerations. Copyright © 2007 IFAC.