基于输出调节模型预测控制的柔性关节机器人伺服系统高性能控制策略

To address the challenges of vibration suppression, reference tracking, constraint satisfaction, and disturbance rejection in robot servo systems with flexible joints, this article presents a novel model predictive control (MPC) framework that integrates output regulation theory and disturbance observer (DO) techniques. First, multisource disturbances in permanent magnet synchronous motor (PMSM)-d...