Predictive control of direct drive manipulator with end state vector weighting

It has been shown in the literature that by including an end state vector weighting in the cost function, the stability of the generalized predictive controller can be guaranteed. This paper reports the formulation of this approach for trajectory control of a two axis direct drive manipulator. An I/O model is assumed for the plant and the partial state of the system is used for end state weighting. Experimental results presented indicate the practical applicability of the approach