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.