Predictive regulating device of the drive with nonrigid link

Suggested algorithm of the control of the manipulator nonrigid link coordinated drive is based on the usage of the method of predictive control. Currently, the procedure of the predictive control develops intensively due-to the specified advantages as compared with the traditional methods of control, such as the deviation control. If with the traditional approach the control action is calculated based on the control error following its occurrence, with the predictive control the explicit model of the controlled object is used. By means of which the evolution of the object controlled coordinate within the definite future time cell called as prediction horizon is used. Controlled consequence is calculated so that to minimize the deviation of the predicted trajectory of the controlled coordinate change from the specified reference trajectory determining the desired dynamics of the transient.